Method and apparatus for at least one radar device

Abstract

Method, for example a computer-implemented method, for at least one radar device for frequency-modulated continuous wave operation, for example FMCW radar device, for example for a vehicle and / or for an infrastructure facility, comprising: providing first information that characterizes at least a distance of the at least one radar device to another radar device, providing second information that characterizes at least a relative orientation of the at least one radar device with respect to the other radar device, determining a center frequency for the at least one radar device based on at least a part of the first information and the second information.

Description

State of the art

[0001] The disclosure relates to a method for at least one radar device for frequency-modulated continuous wave operation.

[0002] The disclosure further relates to a device for at least one radar device for frequency-modulated continuous wave operation. Disclosure of the invention

[0003] Some examples refer to a method, for example a computer-implemented method, for at least one radar device for frequency-modulated continuous wave operation, for example FMCW radar device, for example for a vehicle (e.g. motor vehicle) and / or for an infrastructure facility (e.g. roadside unit), comprising: providing, for example determining, first information that characterizes at least a distance of the at least one radar device to another radar device; providing, for example determining, second information that characterizes at least a relative orientation of the at least one radar device with respect to the other radar device; determining a center frequency (and / or a quantity characterizing a center frequency) for the at least one radar device based on at least a part of the first information and the second information.In some cases, this allows for a reduction in interference, for example when operating multiple radar devices according to the principle of disclosure in the same environment.

[0004] For example, the method includes: providing, for example determining, third information characterizing a chirp bandwidth of the at least one radar device and a chirp bandwidth of the at least one further radar device; providing, for example determining, fourth information characterizing a receiver bandwidth of the at least one radar device and a receiver bandwidth of the at least one further radar device; determining the center frequency for the at least one radar device based on at least a part of the first and second information and based on at least a part of the third and fourth information; and, optionally,Determining a center frequency for at least one further radar device based on at least a part of the first information and the second information, and based on at least a part of the third information and the fourth information.

[0005] In some examples, the third and / or fourth pieces of information can be exchanged via a wireless data connection, for example, achievable using a wireless communication system, as can at least parts of the first and / or second pieces of information. For example, the wireless communication system can be a cellular mobile communication system, for example, according to and / or based on at least one of the following standards: 4G, or 5G, or 6G, or based on at least one other existing or planned standard.

[0006] In some examples, a quantity characterizing the center frequency is, for example, a starting frequency for an FMCW chirp or a stopping frequency for an FMCW chirp, e.g. taking into account a chirp bandwidth.

[0007] In some examples, the method is provided to include at least one of the following elements: a) organizing the first information in the form of a matrix, for example a distance matrix, wherein, for example, the distance matrix for a plurality of radar devices specifies respective distances between individual radar devices of the plurality of radar devices, or b) organizing the second information in the form of a matrix, for example an orientation matrix, wherein, for example, the orientation matrix for one or the plurality of radar devices specifies respective relative orientations with respect to each pair of radar devices of the plurality of radar devices.

[0008] In some examples, the method is provided to include: determining fifth pieces of information that characterize a measure of interference between at least one radar device and another radar device, based at least on the first pieces of information and the second pieces of information, optionally based on further information, for example map information, for an environment of the at least one radar device, for example organizing the fifth pieces of information in the form of a matrix, for example interference matrix, optionally determining the center frequency for the at least one radar device, and optionally the center frequency for the at least one other radar device, additionally based on the fifth pieces of information.

[0009] In some examples, the method is provided to include: using an iterative procedure for assigning a respective center frequency to respective radar devices of one or the plurality of radar devices using at least one of the following elements: a) part of the first information, or b) part of the second information, or c) part of the third information, or d) a) part of the fourth information, or e) part of the fifth information.

[0010] In some examples, the procedure is provided to have at least one of the following aspects: a) providing information that characterizes a set of N, N>=2, radar devices, for example according to R = {1, ...,N}, or b) initializing a lower cutoff frequency f L, for example, with a lowest possible permissible frequency value of a frequency range associated with the set of radar devices, or c) initializing an upper cutoff frequency f H based on the lower cutoff frequency f L and a total bandwidth B, for example according to f H = f L + B, or d) Initializing a lower allocation frequency f̃ L to the lower cutoff frequency f L , for example according to f̃ L = f L , or e) Initializing an upper allocation frequency f̃ H to the upper cutoff frequency f H , for example according to f̃ H = f H, or f) Determining a first radar device and a second radar device from the set of N radar devices, wherein, for example, the first radar device is associated with a first index value î, wherein, for example, the second radar device is associated with a second index value ĵ, based on the fifth piece of information, for example, the interference matrix, such that the first index value î and the second index value ĵ denote the element of the interference matrix that has the smallest magnitude, for example, according to (î,ĵ) ← arg min g(a ij , d ij ), where a ij a relative orientation between the first and second radar devices is characterized, wherein d ijcharacterizes a distance between the first and second radar devices, where g() characterizes a metric, for example a figure, which assigns an interference value g to a respective value of the relative orientation and distance between the first and second radar devices, or g) assigns a center frequency f î to the first radar device based on the lower assignment frequency f̃ L and a chirp bandwidth B cî the first radar device, for example according to fι^=fL˜+Bcι^2 or h) assigning a center frequency f ĵ to the second radar device based on the upper allocation frequency f̃ H and a chirp bandwidth B cĵ the second radar device, for example according to fj^=f˜H−Bcj^2, or i) removing the first radar device and the second radar device from the set of N radar devices, for example according to R\{î,ĵ}, or j) determining whether the lower allocation frequency f̃ L differs from the upper cutoff frequency f by at least a predefinable amount H , for example according to f̃ L ≠ f H , and whether the upper allocation frequency f̃ H differs from the lower cutoff frequency f by at least a predefinable amount L , for example according to f̃ H ≠ f L , and, j1), if the lower allocation frequency f̃ L differs from the upper cutoff frequency f by at least the predefinable amount H and if the upper allocation frequency f̃ H differs from the lower cutoff frequency f by at least the predefinable amount L , Modifying the lower allocation frequency f̃ L based on the receiver bandwidth B îthe first radar device and on the assigned center frequency f î the first radar device, for example according to f̃ L ← f î + B î and modifying the upper allocation frequency fH˜ based on the receiver bandwidth B ĵ the second radar device and on the assigned center frequency f ĵ the second radar device, for example according to f̃ H ← f ĵ + B ĵ , otherwise j2) Setting the lower

[0011] Assignment frequency f̃ L to the lower cutoff frequency f L , for example according to f̃ L = f L and setting the upper allocation frequency f̃ H to the upper cutoff frequency f H , for example according to f̃ H = f H, and optionally k) re-executing at least one of the aspects of determining and / or assigning and / or matching and / or determining and / or modifying and / or setting, for example if the set is non-empty.

[0012] In some examples, the metric g(a) ij , d ij ) defined according to g(aij,dij)=aij+dijmaxi,j dij. Other metrics can also be used in further examples.

[0013] For example, the method includes: exchanging, for example by sending and / or receiving, for example via the communication system, at least one of the following elements with at least one other device, for example the other radar device: a) at least part of the first information, or b) at least part of the second information, or c) at least part of the third information, or d) at least part of the fourth information, or e) at least part of the fifth information, or f) further information, for example map information for or the environment UM of the at least one radar device.

[0014] In some examples, the method includes: determining, based on at least one of the following elements, at least one center frequency for at least one further radar device: a) part of the first information, or b) part of the second information, or c) part of the third information, or d) part of the fourth information, or e) part of the fifth information, or f) part of the further information, for example map information, for one or the surrounding area UM of the at least one radar device, and, optionally, transmitting the at least one center frequency to the at least one further radar device.

[0015] Some examples relate to a device for at least one radar device for frequency-modulated continuous wave operation, for example FMCW radar device, for example for a vehicle and / or for an infrastructure facility, wherein the device is configured to perform the method according to the disclosure.

[0016] Some examples refer to a radar device for frequency-modulated continuous wave operation, for example an FMCW radar device, for example for a vehicle and / or for an infrastructure facility, comprising at least one device according to the disclosure.

[0017] Some examples refer to a vehicle having at least one device according to the disclosure and / or at least one radar device according to the disclosure.

[0018] Some examples refer to an infrastructure facility, for example a roadside unit, comprising at least one device according to the disclosure and / or at least one radar device according to the disclosure.

[0019] Some examples refer to a system comprising at least one device according to the disclosure and / or at least one vehicle according to the disclosure and / or at least one infrastructure facility according to the disclosure.

[0020] Some examples refer to a computer-readable storage medium comprising instructions which, when executed by a computer, cause it to perform the procedure according to the disclosure.

[0021] Some examples relate to a computer program, comprising instructions that, when the program is executed by a computer, cause it to carry out the procedure according to the disclosure.

[0022] Some examples refer to a data carrier signal that transmits and / or characterizes the computer program according to the disclosure.

[0023] Some examples relate to the use of the method according to the disclosure and / or the device according to the disclosure and / or the radar device according to the disclosure and / or the vehicle according to the disclosure and / or the infrastructure facility according to the disclosure and / or the system according to the disclosure and / or the computer-readable storage medium according to the disclosure and / or the computer program according to the disclosure and / or the data carrier signal according to the disclosure for at least one of the following elements: a) operating FMCW radar devices, or b) reducing, for example, mutual interference between FMCW radar devices, or c) centrally allocating center frequencies for FMCW radar devices, or d) decentrally allocating center frequencies for FMCW radar devices, or e) increasing the efficiency and / or reliability of operating multiple FMCW radar devices in the same environment.

[0024] Further features, applications, and advantages will become apparent from the following description of examples illustrated in the figures of the drawing. All described or illustrated features, individually or in any combination, constitute the subject matter of the disclosure, irrespective of their aggregation in the claims or their cross-reference, and irrespective of their formulation or representation in the description or in the drawing.

[0025] The drawing shows: Fig. 1. A simplified flowchart (schematical). Fig. 2. A simplified block diagram (schematically). Fig. 3. A simplified flowchart (schematically). Fig. 4. A simplified flowchart (schematically). Fig. 5. A simplified flowchart (schematically). Fig. 6. A simplified flowchart (schematically). Fig. 7. A simplified flowchart (schematically). Fig. 8. A simplified flowchart (schematically). Fig. 9. A simplified flowchart, schematically shown. Fig. 10. A simplified block diagram schematically, Fig. 11 schematically a simplified scenario, Fig. 12 schematically a simplified scenario, Fig. 13 schematically a simplified scenario, Fig. 14 schematic frequency ranges, Fig. 15 schematic examples of uses.

[0026] Some examples, e.g. Fig. 1, Fig. 2, refer to a method, for example a computer-implemented method, for at least one radar device 10 for frequency-modulated continuous wave operation, for example FMCW radar device 10, for example for a vehicle (e.g. motor vehicle) 1 and / or for an infrastructure facility (e.g. roadside unit) 2, comprising: providing 100 ( Fig. 1), for example, determining 100a, first information I-1, which is at least a distance d ( Fig. 2) characterize the at least one radar device 10 with respect to a further radar device 10', provide 102, for example, determine 102a, second information I-2 that characterizes at least one relative orientation α (e.g., angle, e.g., in a plane or in space) of the at least one radar device 10 with respect to the further radar device 10', determine 104 a center frequency 10-MF and / or a quantity characterizing a center frequency 10-MF for the at least one radar device 10 based on at least a part of the first information I-1 and the second information I-2. In other words, in some examples, at least a part of the first information I-1 and at least a part of the second information I-2 are used, e.g., distance d and relative orientation α, to determine the center frequency 10-MF or the quantity characterizing the center frequency 10-MF.In some examples, this allows for a reduction of interference, for example when operating several radar devices 10, 10', 10" according to the principle of disclosure in the same environment UM.

[0027] In some examples, Fig. 2. At least some aspects of the method according to the disclosure are executable by a device 200. For example, the device 200 can be provided for at least one radar device 10, 10', 10". For example, the device 200 or a functionality of the device 200 can be integrated into at least one radar device 10, 10', 10" or at least some components of the radar device 10, 10', 10" can be integrated into the device 200.

[0028] In further examples, the device 200 or a functionality of the device 200 can be integrated into at least one infrastructure facility 2. In some examples, the infrastructure facility 2 itself has at least one radar device 10". In other examples, the infrastructure facility 2 does not have a radar device.

[0029] For example, see. Fig. 3, the method comprises: providing 110, for example determining 110a, of third information I-3 characterizing a chirp bandwidth of the at least one radar device 10 and a chirp bandwidth of the at least one further radar device 10'.

[0030] The chirp bandwidth of an FMCW radar refers, for example, to the frequency range covered by a transmitted radar signal during a "chirp" (i.e., a frequency ramp). A chirp is thus, for example, a continuous change in frequency over a specific period of time. The larger the chirp bandwidth, the more precisely the distance to objects can be resolved.

[0031] Furthermore, the procedure shows, s. Fig. 3, e.g., on: providing 112, for example, determining 112a, fourth information I-4 characterizing a receiver bandwidth of the at least one radar device 10 and a receiver bandwidth of the at least one further radar device 10', determining 114 the center frequency 10-MF (and / or the quantity characterizing the center frequency 10-MF) for the at least one radar device 10 based on at least a part of the first information I-1 and at least a part of the second information I-2 and based on at least a part of the third information I-3 and at least a part of the fourth information I-4, and, optionally,Determine 116 a center frequency 10'-MF for at least one further radar device 10' based on at least a part of the first information I-1 and at least a part of the second information I-2 and based on at least a part of the third information I-3 and at least a part of the fourth information I-4.,

[0032] In some examples, Fig. 2. The third and / or fourth pieces of information can be exchanged, for example, via a wireless data connection, such as a wireless communication system KS, as can at least parts of the first and / or second pieces of information. For example, the wireless communication system KS can be a cellular mobile communication system, for example, in accordance with and / or based on at least one of the following standards: 4G, or 5G, or 6G, or based on at least one other existing or planned standard. In other words, the radar device 10, 10', 10" can, for example, be configured to exchange data via the communication system KS, or the radar device 10, 10', 10" can have a suitable device (not shown, e.g., a data modem or transceiver) for data exchange via the communication system KS.

[0033] In some examples, Fig. 4, it is provided that the method comprises at least one of the following elements: a) Organizing 120 of the first information I-1 in the form of a matrix M1, for example a distance matrix, wherein, for example, the distance matrix M1 specifies for a plurality of radar devices 10, 10', 10", ... respective distances d, ... between individual radar devices of the plurality of radar devices, or b) Organizing 122 of the second information I-2 in the form of a matrix M2, for example an orientation matrix, wherein, for example, the orientation matrix M2 specifies for one or the plurality of radar devices respective relative orientations with respect to each pair of radar devices of the plurality of radar devices.

[0034] In some examples, Fig. 5, the method is provided to: Determine 130 fifth pieces of information I-5, which characterize a measure of interference between at least one radar device 10 and another radar device 10', based at least on the first pieces of information I-1 and the second pieces of information I-2, optionally based on further information, for example map information I-MAP ( Fig. 2), for one or the environment UM of the at least one radar device 10, for example organizing 130a the fifth information I-5 in the form of a matrix M3, for example interference matrix, optionally 132 determining the center frequency 10-MF (or the quantity characterizing it) for the at least one radar device 10, and optionally the center frequency 10'-MF for the at least one further radar device 10', additionally based on the fifth information I-5.

[0035] In some examples, Fig. 6, it is provided that the method comprises: Using 140 an iterative procedure I-VERF for determining and / or assigning a respective center frequency 10-MF, 10'-MF to respective radar devices 10, 10' of one or the plurality of radar devices using at least one of the following elements: a) part of the first piece of information I-1, or b) part of the second piece of information I-2, or c) part of the third piece of information I-3, or d) a) part of the fourth piece of information I-4, or e) part of the fifth piece of information I-5. This enables, in some examples, a systematic and efficient, e.g. rule-based, assignment of the center frequencies, e.g. for a predefinable set or subset of the radar devices. The optional block 142 according to Fig. 6 symbolizes an optional, at least temporary, operation of the at least one radar device with the at least one assigned center frequency.

[0036] In some examples, Fig. 7, it is provided that the method includes at least one of the following aspects: a) providing 150 IR information, which includes a set of N, N>=2, radar devices (e.g. the elements 10, 10', 10" according to Fig. 2) characterize, for example according to R = {1, ...,N}, or b) initialize 151 a lower cutoff frequency f L , for example, with the lowest possible permissible frequency value of a frequency range associated with the set of radar devices, or c) initializing 152 an upper limit frequency f H based on the lower cutoff frequency f L and a total bandwidth B, for example according to f H = f L + B, or d) Initialize 153 a lower allocation frequency f̃ L to the lower cutoff frequency f L , for example according to f̃ L = f L , or e) Initialize 154 an upper allocation frequency f̃ H to the upper cutoff frequency fH , for example according to f̃ H = f H , or f) Determine 155 a first radar device and a second radar device from the set of N radar devices, wherein, for example, the first radar device is associated with a first index value ĩ, wherein, for example, the second radar device is associated with a second index value j, based on the fifth piece of information I-5, for example, the interference matrix M3, for example, such that the first index value î and the second index value ĵ denote the element of the interference matrix M3 that has the smallest magnitude, for example, according to (î, ĵ) ← arg min g(α ij , d ij ), where α ij a relative orientation between the first and second radar devices is characterized, wherein d ijcharacterizes a distance between the first and second radar devices, where g() characterizes a metric, for example a figure, which assigns an interference value g to a given value of the relative orientation and distance between the first and second radar devices. ij assigns, or g) Assigning 156 to a center frequency f î to the first radar device based on the lower assignment frequency f̃ L and a chirp bandwidth B cî the first radar device, for example according to fι^=fL˜+Bcι^2, or h) Assigning 157 to a center frequency f ĵ to the second radar device based on the upper allocation frequency f̃ H and a chirp bandwidth B cĵ the second radar device, for example according to fj^=f˜H−Bcj^2, or i) Remove 157a the first radar device and the second radar device from the set of N radar devices, for example according to R\{î,ĵ}, or j) Determine 158 whether the lower allocation frequency f̃ L differs from the upper cutoff frequency f by at least a predefinable amount H , for example according to f̃ L ≠ f H , and whether the upper allocation frequency f̃ H differs from the lower cutoff frequency f by at least a predefinable amount L , for example according to f̃ H ≠ f L , and, j1), if the lower allocation frequency f̃ L differs from the upper cutoff frequency f by at least the predefinable amount H and if the upper allocation frequency f̃ H differs from the lower cutoff frequency f by at least the predefinable amount L , Modify 159a the lower allocation frequency f̃ L based on the receiver bandwidth B îthe first radar device and on the assigned center frequency f î the first radar device, for example according to f̃ L ← f î + B î and modify 159b of the upper allocation frequency f̃ H based on the receiver bandwidth B ĵ the second radar device and on the assigned center frequency f ĵ the second radar device, for example according to f̃ H ← f ĵ + B ĵ , otherwise j2) Set 159c of the lower allocation frequency f̃ L to the lower cutoff frequency f L , for example according to f̃ L = f̃ L and setting 159d of the upper allocation frequency f̃ H to the upper cutoff frequency f H , for example according to f̃ H = f H, and optionally k) re-executing 160 at least one of the aspects of determining 155 and / or assigning 156 and / or allocating 157 and / or removing 157a and / or determining 158 and / or modifying 159a, 159b and / or setting 159c, 159d, for example if the set R is not empty, i.e. at least one radar device from the set has not already been assigned a center frequency.

[0037] In some examples, the metric is g(α). ij , d ij ) defined according to g(aij,dij)=aij+dijmaxi,j dij. It provides, for example, real values ​​between -1 and 2. In other examples, other metrics can also be used, e.g., alternatively or additionally.

[0038] Through the aspects described above according to Fig. 7 is an iterative procedure as described in some examples, which enables an efficient allocation of different center frequencies to several radar devices, which, for example, allows a reduction or avoidance of mutual interference.

[0039] Further aspects and definitions are given below, based on some examples.

[0040] For example, the position of an i-th radar device or an associated vehicle, e.g., with respect to a predefinable reference coordinate system (e.g., according to World Geodetic System 1984, WGS84), can be defined by a vector p. i characterizable, and an orientation with respect to this reference coordinate system is provided by a vector v ı characterizable.

[0041] In some examples, the distance between vehicles i, j is given by d. ij = ||p i - p j || and the relative orientation of two vehicles i, j as αij =< v i , v j >= v i T v j characterizable, where |α ij | ≤ 1.

[0042] For example, the distance matrix can be formed using this: [D] ij =d ij , and the orientation matrix: [A] ij =α ij Both matrices D and A are symmetric, because d ij = d ji and α ij = α ji .

[0043] In some examples, matrices D and A can be interpreted as vehicle-specific information. Optionally, further information, such as the previously described map information I-MAP, can also be processed together with the information from matrices D and A, for example, provided and / or exchanged, e.g., between at least some facilities 1, 1a, 2.

[0044] For example, the interference matrix M3 ( Fig. 5) can be formulated based on the metric g, e.g. according to G = g(D,A, Map, ...), where "Map" characterizes, for example, the map information I-MAP. In another variant, the interference matrix can be simplified to: G = g(D,A).

[0045] In some examples, the center frequencies of two radar devices are designed to be relatively far apart, e.g., to ensure low interference, when the distance between the radar devices approaches 0, i.e., d ij → 0, and / or when their relative orientation approaches -1, i.e., α ij → -1, which can be the case, for example, with two vehicles or radar devices moving towards each other.

[0046] In some examples, the described metric g becomes minimal as interference increases. This means that for two vehicles i and j that are close to each other and traveling in opposite directions (maximum interference with random modulation), g1(α) ij , d ij ) = -1 + ε, and for two vehicles i, j that are very far apart and in the same direction (minimal interference), g1(α) holds. ij , d ij ) = 1 + 1 = 2.

[0047] In some examples, Fig. 2. The receiver bandwidths of the N many radar devices are known or are determined, for example through a corresponding exchange of information, e.g. between vehicles 1, 1a or their radar devices 10, 10' and / or by involving at least one infrastructure facility 2. For example, information about the receiver bandwidths of the radar devices can be represented in at least one radar device as vector b. rx = [B1, ..., B N ], where B1 represents, for example, the receiver bandwidth of a first radar device, etc. For example, all participating radar devices in the vicinity UM maintain the receiver bandwidths.

[0048] In some examples, the chirp bandwidths of N many radar devices are known or are determined, for example through appropriate information exchange, e.g., between vehicles or their radar devices and / or with the involvement of at least one infrastructure facility. For example, information about the chirp bandwidths of the radar devices can be represented in at least one radar device as vector b. c = [B c1 , ..., B cN ], where B c1 e.g., the chirp bandwidth of a first radar device, etc.

[0049] In some examples, information regarding receiver bandwidths and / or chirp bandwidths can be exchanged using familiar messages such as CPM, or via a sensor parameter message SPM. In other examples, a conventional message such as CAM can be used for exchanging the first and second pieces of information.

[0050] In some examples, the iterative procedure is as disclosed, e.g. Fig. 7, e.g., describable by the following algorithm:

[0051] In some examples, Fig. 8, the procedure is described as follows: Exchange 170, for example Send 170a and / or Receive 170b, for example via the KS communication system ( Fig. 2) at least one of the following elements with at least one further device, for example the further radar device 10': a) at least part of the first information I-1, or b) at least part of the second information I-2, or c) at least part of the third information I-3, or d) at least part of the fourth information I-4, or e) at least part of the fifth information I-5, or f) further information, for example map information, I-MAP for the area UM of the at least one radar device 10. The optional block 172 according to Fig. 8 symbolizes an optional use of at least some of the exchanged information, for example for determining and / or assigning at least one center frequency to at least one radar device.

[0052] In some examples, Fig. 9, the method is provided to: Determine 180, based on at least one of the following elements, at least one center frequency 10'-MF, 10"-MF for at least one further radar device 10', 10": a) part of the first information, or b) part of the second information, or c) part of the third information, or d) part of the fourth information, or e) part of the fifth information, or f) part of the further information, for example map information, for one or the environment UM of the at least one radar device, and, optionally, transmit 182 the at least one center frequency 10'-MF, 10"-MF to the at least one further radar device 10', 10". These aspects can, in some examples, be performed by a vehicle 1 or its radar device 10 or a device 200, and / or by an infrastructure facility 2 or its radar device 10" or a device 200.

[0053] In some examples, the proposed algorithm can therefore not only be processed separately in each vehicle, but can also be executed by a central node (e.g., infrastructure facility 2 or even vehicle 1). This means that there could be, for example, a central node, such as a cluster head (e.g., vehicle 1 or RSU 2), to which each vehicle (e.g., with its own radar device) sends its position and orientation, or more generally, a state vector characterizing at least its position and orientation. The cluster head can then, for example, execute the algorithm according to the disclosure and share the results with the vehicles.

[0054] In other words, in some examples, the method according to the disclosure may be carried out by, for example, a device 200 that itself is not assigned a radar device, at least temporarily, for example permanently, or that does not have a radar device, or that is not integrated into a radar device. An example of this is, for example, an infrastructure facility, for example, without its "own" radar device, which carries out the method according to the disclosure for at least one radar device of at least one other facility (e.g., a vehicle).

[0055] The principle according to the disclosure can be used, with the aid of information about the position and orientation of the vehicles or radar devices, for an efficient determination of a center frequency, for example carrier frequency, of each vehicle or its radar device.

[0056] In some examples, the proposed algorithm does not utilize the vehicle's fields of view (FoVs), for example, if these are encoded in a sensor data message (SPM). However, in other examples, it is possible to take the fields of view into account when determining the center frequency.

[0057] In some examples, the proposed algorithm uses line-of-sight propagation (LoS) and assumes that this has a dominant influence on interference. However, in other examples, non-line-of-sight propagation (NLoS) of radar signals is ignored in the above example definition of the interference matrix G.

[0058] In some examples, interference due to NLoS can be modeled, e.g., when appropriate information about the environment UM is available, such as a digital map, for example, characterizable by the map information I-MAP.

[0059] Some examples, Fig. 10, refer to a device 200 for at least one radar device 10, 10', 10" ( Fig. 2) for a frequency-modulated continuous wave operation, for example FMCW radar device, for example for a vehicle 1, 1a and / or for an infrastructure facility 2, wherein the device 200 is configured to perform at least some aspects of the method according to the disclosure.

[0060] In some examples, Fig. 10, it is provided that the device 200 comprises: a computing device (“computer”) 202 having at least one computing core 202a, a storage device 204 associated with the computing device 202 for at least temporary storage of at least one of the following elements: a) data DAT (e.g., data associated with the first information I-1 and / or with further information I-2, I-3, I-4, I-5, I-MAP, ...), b) computer program PRG, for example, for carrying out the method according to the disclosure.

[0061] For further examples, Fig. 10, the memory device 204 includes volatile memory (e.g., RAM) 204a, and / or non-volatile (NVM) memory (e.g., Flash EEPROM) 204b, or a combination thereof or with other memory types not explicitly mentioned.

[0062] Further examples, Fig. 10, refer to a computer-readable storage medium SM, comprising instructions PRG which, when executed by a computer 202, cause it to execute the method according to the disclosure.

[0063] Further examples, Fig. 10, refer to a computer program PRG, comprising instructions which, when the program PRG is executed by a computer 202, cause it to perform the procedure according to the disclosure.

[0064] Further examples, Fig. References 10 to a data carrier signal DCS, which characterizes and / or transmits the computer program PRG according to the disclosure. The data carrier signal DCS can be transmitted (e.g., sent and / or received) via an optional data interface 206 of the device 200. In further exemplary embodiments, the optional data interface 206 uses, for example, the communication system KS ( Fig. 2).

[0065] In some examples, Fig. 10. The device 200 can also be designed, e.g., purely hardware-based, e.g., as a hardware circuit, or the functionality of the device 200 can be realized by means of a, e.g., purely hardware circuit.

[0066] Some examples, Fig. 2, refer to a radar device 10, 10', 10" for frequency-modulated continuous wave operation, for example FMCW radar device, for example for a vehicle 1, 1a and / or for an infrastructure facility 2, comprising at least one device 200 according to the disclosure.

[0067] Some examples, Fig. 2, refer to a vehicle 1, 1a having at least one device 200 according to the disclosure and / or at least one radar device 10, 10' according to the disclosure.

[0068] Some examples, Fig. 2, refer to an infrastructure facility 2, for example road infrastructure facility, for example roadside unit, comprising at least one device 200 according to the disclosure and / or at least one radar device 10" according to the disclosure.

[0069] Some examples, Fig. 2, refer to a system 1000 comprising at least one device 200 according to the disclosure and / or at least one vehicle 1, 1a according to the disclosure and / or at least one infrastructure facility 2 according to the disclosure and / or at least one radar device 10, 10', 10" according to the disclosure.

[0070] Further aspects and examples are described below, which – in the case of further examples – can each be combined individually or in any combination with at least one of the aspects and / or examples described above.

[0071] Fig. Figure 11 shows an example of a scenario in which the principle can be used according to the disclosure. Several vehicles are shown, not labelled for clarity, each equipped, for example, with an FMCW radar device 10 (see Figure 11). Fig. 2) are equipped, and an infrastructure facility 2', which in some examples may also have a cloud connection 3. Some of the vehicles exchange information among themselves and / or via the infrastructure facility 2', where the arrows a1, for example, symbolize information transmissions from the respective vehicles to the infrastructure facility 2'. For example, the transmissions a1 include sending at least some of the information I-1, I-2, and optionally also I-3, I-4, I-5, I-MAP, etc. Based on at least some of this information, the infrastructure facility 2' can, for example, by means of an associated device 200, determine one or more center frequencies for the vehicles or their radar devices, for example, using the principle according to the disclosure, and send information characterizing the respective center frequency(ies) to the vehicles, see the arrows a2.

[0072] In some examples, messages that are known to us can be used for the transmissions a1, or possibly extended versions thereof, such as CPM (Collaborative Perception Message), CAM (Cooperative Awareness Message) or SPM (Sensor Parameter Message).

[0073] Using the example in Fig. In the configuration shown in Figure 11, a central allocation of the center frequencies can be realized, for example by the device 200 or the infrastructure facility 2', for example for several vehicles in the vicinity UM of the infrastructure facility 2'.

[0074] Alternatively or additionally, at least one of the vehicles can also be used in accordance with... Fig. 11 be trained to carry out the procedure according to the disclosure, for example for itself, i.e. e.g. to determine a center frequency for its own radar device, and / or for other vehicles, for example to determine center frequencies for itself and the other vehicles (and / or the infrastructure facility 2', if it has its own radar device).

[0075] Fig. Figure 12 shows an example of another scenario in which the principle can be used according to the disclosure. Two vehicles each have a radar device (e.g., element 10 according to Figure 12). Fig. 2, not in Fig. 12) and a respective device 200 for carrying out aspects of the method according to the disclosure. The vehicles exchange at least parts of the information I-1, I-2, ... , see the arrows a3 (e.g. CPM and / or CAM and / or SPM), and each vehicle determines, for example, on this basis, the center frequency for its radar device.

[0076] Fig. Figure 13 shows an example of another scenario in which the principle can be used according to the disclosure. Four vehicles V-1, V-2, V-3, and V-4 are depicted in an environment UM. The orientation of vehicles V-1 and V-2 relative to each other is given by: α 12 = 1, as well as for the alignment of vehicles V-3, V-4 to each other α 34 = 1, while for the orientation of vehicles V-1, V-3 or V-1, V-4 or V-2, V-3 or V-2, V-4 the following applies: α 13 = α 14 = α 23 = α 24 = -1. The following applies to the distances between the vehicles: d 23 < d 24 < d13 < d 14 .

[0077] In some examples, the above metric g(α) is obtained. ij , d ij ) therefore: g 23 < g 24 < g 13 < g 14 The vehicle V-2 is therefore assigned the frequency range FB2 according to Fig. 14 - with corresponding center frequency (not shown) - assigned, and the vehicle V-3 is thus assigned the frequency range FB3 according to Fig. 14 is assigned. Similarly, the respective frequency ranges FB1 and FB4 are then assigned to vehicles V-1 and V-4. It should be noted that in some examples, the elements g 24 < g 13 They are not taken into account because they relate, among other things, to vehicles or their radar devices, to which a respective center frequency or a corresponding frequency range FB2, FB3 has already been assigned.

[0078] The further areas B2, B3 according to Fig. 14 symbolize further frequency ranges according to some examples.

[0079] Some examples, Fig.15, refer to a use 300 of the method according to the disclosure and / or the device 200 according to the disclosure and / or the radar device 10, 10', 10", ... according to the disclosure and / or the vehicle 1, 1a, ...according to the disclosure and / or the infrastructure facility 2, 2' according to the disclosure and / or the system 1000 according to the disclosure and / or the computer-readable storage medium SM according to the disclosure and / or the computer program PRG according to the disclosure and / or the data carrier signal DCS according to the disclosure for at least one of the following elements: a) operating 301 of FMCW radar devices, or b) reducing 302 of, for example, mutual interference of FMCW radar devices, or c) centrally allocating 303 center frequencies for FMCW radar devices, or d) decentrally allocating 304 center frequencies for FMCW radar devices, or e) increasing 305 the efficiency and / or reliability of the operation of several FMCW radar devices 10, 10', 10" in the same environment UM.

Claims

[1] A method, for example a computer-implemented method, for at least one radar device (10) for frequency-modulated continuous wave operation, for example an FMCW radar device, for example for a vehicle (1) and / or for an infrastructure facility (2), comprising: providing (100), for example determining (100a), first information (I-1) that characterizes at least one distance (d) of the at least one radar device (10) to another radar device (10'), providing (102), for example determining (102a), second information (I-2) that characterizes at least one relative orientation (α) of the at least one radar device (10) with respect to the other radar device (10'),Determining (104) a center frequency (10-MF) and / or a quantity characterizing the center frequency (10-MF) for the at least one radar device (10) based on at least a part of the first information (I-1) and the second information (I-2). [2] The method of claim 1, comprising: providing (110), for example determining (110a), third information (I-3) characterizing a chirp bandwidth (10-CB) of the at least one radar device (10) and a chirp bandwidth (10'-CB) of the at least one further radar device (10'), providing (112), for example determining (112a), fourth information (I-4) characterizing a receiver bandwidth (10-RXB) of the at least one radar device (10) and a receiver bandwidth (10'-RXB) of the at least one further radar device (10'), determining (114) the center frequency (10-MF) for the at least one radar device (10) based on at least a part of the first information (I-1) and the second information (I-2) and based on at least a part of the third information (I-3) and the fourth information (I-4), and, optionally,Determining (116) a center frequency (10'-MF) for the at least one further radar device (10') based on at least a part of the first information (I-1) and the second information (I-2) and based on at least a part of the third information (I-3) and the fourth information (I-4). [3] Method according to at least one of the preceding claims, comprising at least one of the following elements: a) Organizing (120) the first information (1-1) in the form of a matrix, for example a distance matrix, (M1), wherein, for example, the distance matrix (M1) specifies for a plurality of radar devices (10, 10', ...) respective distances between individual radar devices of the plurality of radar devices (10, 10', ...), or b) Organizing (122) the second information (1-1) in the form of a matrix, for example an orientation matrix, (M2), wherein, for example, the orientation matrix (M2) specifies for one or the plurality of radar devices (10, 10', ...) respective relative orientations with respect to each pair of radar devices of the plurality of radar devices (10, 10', ...). [4] Method according to at least one of the preceding claims, comprising: determining (130) fifth information (I-5) characterizing a measure of interference between at least one radar device (10) and one further radar device (10'), based at least on the first information (I-1) and the second information (I-2), optionally based on further information, for example map information, (I-MAP) for an environment UM of the at least one radar device (10), for example organizing (130a) the fifth information (I-5) in the form of a matrix, for example interference matrix, (M3), optionally determining the center frequency (10-MF) for the at least one radar device (10), and optionally the center frequency (10'-MF) for the at least one further radar device (10'), additionally based on the fifth information (I-5). [5] Method according to at least one of the preceding claims, comprising: using (140) an iterative method (IT-VERF) for assigning a respective center frequency (10-MF, 10-MF', ...) to respective radar devices (10, 10', ...) of one or the plurality of radar devices using at least one of the following elements: a) part of the first information (I-1), or b) part of the second information (I-2), or c) part of the third information (I-1), or d) a) part of the fourth information (I-4), or e) part of the fifth information (I-5). [6] Method according to claim 5, comprising at least one of the following: a) providing (150) information (IR) that characterizes a set of N, N>=2, radar devices, for example according to R = {1, ...,N}, or b) initializing (151) a lower cutoff frequency f L, for example with a lowest possible permissible frequency value of a frequency range associated with the set of radar devices, or c) initializing (152) an upper cutoff frequency f H based on the lower cutoff frequency f L and a total bandwidth B, for example according to f H = f L + B, or d) Initializing (153) a lower allocation frequency f̃ L to the lower cutoff frequency f L , for example according to f̃ L = f L , or e) Initializing (154) an upper allocation frequency f̃ H to the upper cutoff frequency f H , for example according to f̃ H = f H, or f) Determine (155) a first radar device and a second radar device from the set of N radar devices, wherein, for example, the first radar device is associated with a first index value î, wherein, for example, the second radar device is associated with a second index value ĵ, based on the fifth piece of information (I-5), for example, the interference matrix (M3), for example, such that the first index value î and the second index value ĵ denote the element of the interference matrix (M3) that has the smallest magnitude, for example, according to (î, ĵ) ← arg ming(a ij , d ij ), where a ij a relative orientation between the first and second radar devices is characterized, wherein d ijcharacterizes a distance between the first and second radar devices, wherein g() characterizes a metric, for example a figure, which assigns an interference value g to a respective value of the relative orientation and distance between the first and second radar devices, or g) assigning (156) a center frequency f î to the first radar device based on the lower assignment frequency f̃ L and a chirp bandwidth B cî the first radar device, for example according to fι^=fL˜+Bcι^2 or h) assigning (157) a center frequency f ĵ to the second radar device based on the upper allocation frequency f̃ H and a chirp bandwidth B cî the second radar device, for example according to fj^=f˜H−Bcj^2, f ĵor i) removing (157a) the first radar device and the second radar device from the set of N radar devices, for example according to R\{î,ĵ}, or j) determining (158) whether the lower allocation frequency f̃ L differs from the upper cutoff frequency f by at least a predefinable amount H , for example according to f̃ L ≠ f H , and whether the upper allocation frequency f̃ H differs from the lower cutoff frequency f by at least a predefinable amount L , for example according to f̃ H ≠ f L , and, j1), if the lower allocation frequency f̃ L differs from the upper cutoff frequency f by at least the predefinable amount H and if the upper allocation frequency f̃ H differs from the lower cutoff frequency f by at least the predefinable amount L , Modifying (159a) the lower allocation frequency f̃ L based on the receiver bandwidth Bî the first radar device and on the assigned center frequency f î the first radar device, for example according to f̃ L ← f î + B î and modifying (159b) the upper allocation frequency f̃ H based on the receiver bandwidth B ĵ the second radar device and on the assigned center frequency f ĵ the second radar device, for example according to f̃ H ← f ĵ + B ĵ , otherwise j2) Setting (159c) the lower allocation frequency f̃ L to the lower cutoff frequency f L , for example according to f̃ L = f L and setting (159d) the upper allocation frequency f̃ H to the upper cutoff frequency f H , for example according to f̃ H = f H, and optionally k) re-executing (160) at least one of the aspects of determining (155) and / or assigning (156) and / or assigning (157) and / or determining (158) and / or modifying (159a, 159b) and / or setting (159c, 159d), for example when the set is non-empty. [7] Method according to claim 6, wherein the metric g(α ij , d ij ) is defined according to g(αij,dij)=αij+dijmax i,jdij. [8] Method according to at least one of the preceding claims, comprising: exchanging (170), for example transmitting (170a) and / or receiving (170b), at least one of the following elements with at least one further device, for example the further radar device (10'; 10"): a) at least a part of the first information (I-1), or b) at least a part of the second information (I-2), or c) at least a part of the third information (I-3), or d) at least a part of the fourth information (I-4), or e) at least a part of the fifth information (I-5), or f) further information, for example map information (I-MAP) for one or the environment (UM) of the at least one radar device (10). [9] Method according to at least one of the preceding claims, comprising: determining (180), based on at least one of the following elements, at least one center frequency (10'-MF, 10"-MF) for at least one further radar device (10', 10"): a) part of the first information (I-1), or b) part of the second information (I-2), or c) part of the third information (I-3), or d) part of the fourth information (I-4), or e) part of the fifth information (I-5), or f) part of the further information, for example map information, (I-MAP) for one or the environment (UM) of the at least one radar device (10), and, optionally, transmitting (182) the at least one center frequency (10'-MF, 10"-MF) to the at least one further radar device (10', 10"). [10] Device (200) for at least one radar device (10; 10'; 10") for frequency-modulated continuous wave operation, for example FMCW radar device, for example for a vehicle (1) and / or for an infrastructure facility (2), wherein the device (200) is configured to perform the method according to at least one of the preceding claims. [11] Radar device (10; 10'; 10") for frequency-modulated continuous wave operation, for example FMCW radar device, for example for a vehicle (1) and / or for an infrastructure facility (2), comprising at least one device (200) according to claim 10. [12] Vehicle (1; 1a) comprising at least one device (200) according to claim 10 and / or at least one radar device (10; 10'; 10") according to claim 11. [13] Infrastructure unit (2), for example roadside unit, comprising at least one device (200) according to claim 10 and / or at least one radar device (10; 10'; 10") according to claim 11. [14] System (1000) comprising at least one device (200) according to claim 10 and / or at least one vehicle (1; 1a) according to claim 12 and / or at least one infrastructure facility (2) according to claim 13. [15] Computer-readable storage medium (SM) comprising instructions (PRG) which, when executed by a computer (202), cause it to execute the method according to at least one of claims 1 to 9. [16] Computer program (PRG) comprising instructions which, when the program (PRG) is executed by a computer (202), cause it to execute the method according to at least one of claims 1 to 9. [17] Data carrier signal (DCS) that transmits and / or characterizes the computer program (PRG) according to claim 16. [18] Use (300) of the method according to at least one of claims 1 to 9 and / or the device (200) according to claim 10 and / or the radar device (10; 10'; 10") according to claim 11 and / or the vehicle (1; 1a) according to claim 12 and / or the infrastructure facility (2) according to claim 13 and / or the system (1000) according to claim 14 and / or the computer-readable storage medium (SM) according to claim 15 and / or the computer program (PRG) according to claim 16 and / or the data carrier signal (DCS) according to claim 17 for at least one of the following elements: a) operating (301) FMCW radar devices (10; 10'; 10"), or b) reducing (302) interference, for example mutual interference, between FMCW radar devices (10; 10'; 10"), or c) central Assignment (303) of center frequencies for FMCW radar devices (10; 10'; 10"), or d) decentralized assignment (304) of center frequencies for FMCW radar devices (10; 10';10"), or e) increasing (305) the efficiency and / or reliability of the operation of multiple FMCW radar devices (10; 10'; 10") in the same environment (UM).;

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