Method and apparatus for at least one radar device

Abstract

A method, for example a computer-implemented method, for 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: providing, for example determining, first information characterizing a center frequency for at least one signal to be transmitted by the radar device, based on an orientation of the radar device, for example based on a geographical orientation, for example with respect to a reference orientation; providing, for example determining, second information characterizing at least one time resource for the signal to be transmitted by the radar device; and, optionally, transmitting the signal with the center frequency according to, for example in, the at least one time resource by means of the radar device.

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 relate to a method, for example a computer-implemented method, for a 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, for example determining, first information characterizing a center frequency for at least one signal to be transmitted by the radar device, based on an orientation of the radar device, for example based on a geographical orientation, for example with respect to a reference orientation; providing, for example determining, second information characterizing at least one time resource for the signal to be transmitted by the radar device; and, optionally, transmitting the signal at the center frequency according to, for example in, the at least one time resource by means of the radar device.In some examples, this can lead to the efficient operation of multiple radar devices, for example with reduced interference.

[0004] In some examples, the detection can take place locally in the radar device or in a device for the radar device.

[0005] In other examples, the determination may also involve receiving the first and / or second information, for example from at least one other device (e.g. another system for the vehicle (local with respect to the vehicle), and / or remote device (additional radar device and / or infrastructure device (e.g. with or without its own radar device))).

[0006] In some examples, the second piece of information characterizes, for example, at least one time resource characterizes a start time for sending the signal.

[0007] In some examples, the second set of information characterizes, for instance, at least one time resource, at least one time slot (e.g., characterized by a start time and a length, e.g., duration, and / or by a start time and an end time) for transmitting the signal. In other words, in some examples, time resources for transmitting signals, i.e., radar signals, by the radar device can be provided in predefined units such as time slots (or other units characterizing time resources).

[0008] If, as in some examples, the radar device has a connection to a communication system that manages or has time resources, the time resources for the signal of the radar device can, for example, also be associated with time resources of the communication system, e.g., characterized by time resources of the communication system.

[0009] In further examples, the provision, for example determination, of the second piece of information includes at least one of the following elements: a) provision of the second piece of information based on a, for example, geographical, position of the radar device, or b) determination of the second piece of information based on a, for example, geographical, position of the radar device, where, for example, the position of the radar device can be characterized by an affiliation with, for example, the arrangement of the radar device in, an, for example, geographical, area.

[0010] For example, providing, e.g., determining, the initial information includes at least one of the following elements: providing and / or determining the initial information based on the orientation and at least one bandwidth associated with the radar device, for example according to fc=fc,band+α2π[B−Br], where f c the center frequency is characterized, where f c,band a center frequency of a total bandwidth B is characterized, where α characterizes the orientation, where B r a chirp bandwidth of the radar device is characterized.

[0011] 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.

[0012] For example, the method includes synchronizing, for instance, at least one aspect of the radar device, such as at least one time resource, with a reference time, for example, a global reference time. This can ensure, in some examples, that multiple radar devices according to the disclosure use a uniform grid of time resources, which can reduce potential mutual interference.

[0013] In some examples, the procedure is provided to include: using two states for a possible sending of the signal, wherein a first state of the two states is associated with sending the signal according to the at least one time resource, for example in a time slot (for example starting the sending at the start time of the time slot), wherein a second state of the two states is associated with waiting for the at least one time resource, for example a time slot, wherein, for example, no sending of the signal takes place in the second state.

[0014] In some examples, it is provided that at least one time resource, for example a length, for example duration, of at least one time slot, is specified, for example standardized, for example for different types of radar devices, for example comprising at least one of the following elements: a) short-range radar, or b) medium-range radar, or c) long-range radar.

[0015] In some examples, the method is provided to include at least one of the following elements: a) exchanging, for example sending and / or receiving, the first information, for example with at least one other device, for example at least one other radar device, or b) exchanging, for example sending and / or receiving, the second information, for example with at least one other device, for example at least one other radar device.

[0016] In further examples, the method may include at least one of the following elements: a) signaling, for example to at least one other radar device, for example by means of a communication system, that the signal will be sent in a future, for example subsequent, time resource, for example a future, for example subsequent, time slot; or b) receiving, for example by means of a communication system, a signal from at least one other radar device indicating that the at least one other radar device will send a signal in a future, for example subsequent, time resource, for example a future, for example subsequent, time slot. In some examples, the signaling may, for example, involve an information element that may be provided in or as part of a message of the communication system.For example, an existing communication system message can be extended to include the information element as disclosed. The communication system can, for example, be a cellular mobile communication system, such as one based on and / or in accordance with at least one of the following standards: 4G, 5G, 6G, or based on at least one other existing or planned standard.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] Some examples refer to a data carrier signal that transmits and / or characterizes the computer program according to the disclosure.

[0025] 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) decentralized allocation of center frequencies for FMCW radar devices, or d) decentralized allocation of time resources for FMCW radar devices, or e) increasing the efficiency and / or reliability of operating multiple FMCW radar devices in the same environment.or f) coordinating time resources for FMCW radar devices, for example in the same environment, or g) avoiding, for example refraining from, coordination with at least one other radar device.

[0026] 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.

[0027] 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 block diagram (schematically). Fig. 8 schematic examples of uses.

[0028] Some examples, e.g. Fig. 1, Fig. 2, refer to a method, for example a computer-implemented method, for a radar device 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: providing 100, for example determining 100a, first information I-1 which has a center frequency SIG-MF ( Fig. 2) characterize SIG for at least one signal to be transmitted by means of the radar device 10, 10', based on an orientation 10-α of the radar device 10, 10', for example based on a geographical orientation, for example in relation to a reference orientation, providing 102 ( Fig. 1) For example, determining 102a, secondly information I-2, which characterizes at least one time resource SIG-ZR for the signal SIG to be transmitted by means of the radar device 10, 10', and, optionally, transmitting 104 the signal with the center frequency SIG-MF according to, for example, the at least one time resource SIG-ZR by means of the radar device 10, 10'. In some examples, this can achieve efficient operation of several radar devices 10, 10', for example with reduced interference.

[0029] In some examples, Fig. 2. At least some aspects of the method according to the disclosure are feasible by a device 200. For example, the device 200 can be provided for at least one radar device 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', or at least some components of the radar device 10, 10' can be integrated into the device 200.

[0030] In some examples, the determination 100a, 102a can be carried out locally in the radar device 10, 10' or in a device 200 for the radar device 10, 10'.

[0031] In further examples, determining 100a, 102a can also involve receiving the first and / or second information I-1, I-2, for example from at least one other device (e.g. another system for vehicle 1 (e.g. local with respect to vehicle 1), and / or remote device (further radar device 10' and / or infrastructure device 2 (e.g. with or without its own radar device))).

[0032] In some examples, the second information I-2 characterizes, for example, the at least one time resource SIG-ZR characterizes a start time SZ for sending the signal SIG.

[0033] In some examples, the second piece of information I-2 characterizes, for example, the at least one time resource SIG-ZR characterizes at least one time slot ZS (e.g., characterizable by a start time SZ and a length, e.g., duration, and / or by a start time and an end time) for transmitting the signal SIG. In other words, in some examples, time resources for transmitting signals, i.e., radar signals, by the radar device 10, 10' can be provided in predefinable units such as time slots (or other units characterizing time resources).

[0034] If the radar device 10, 10' has a connection to a communication system KS according to some examples ( Fig. 2) which manages or has time resources, the time resources SIG-ZR for the signal SIG of the radar device 10, 10' may, for example, also be associated with time resources of the communication system KS, e.g., characterized by time resources of the communication system KS.

[0035] For further examples, Fig. 2, the provision 102, for example determination 102a, of the second piece of information I-2 comprises at least one of the following elements: a) provision 102b of the second piece of information I-2 based on a, for example, geographical, position 10-POS of the radar device 10, 10', or b) determination 102c of the second piece of information I-2 based on a, for example, geographical, position 10-POS of the radar device, wherein, for example, the position 10-POS of the radar device 10, 10' can be characterized by an affiliation with, for example, an arrangement of the radar device in, an, for example, geographical, area, for example, an environment UM.

[0036] For example, Fig. 1, the provision 100, for example, the determination 100a, of the first information I-1 comprises at least one of the following elements: provision 100b and / or determination 100c of the first information I-1 based on the orientation 10-α and at least one bandwidth associated with the radar device 10, 10', for example according to fc=fc,band+α2π[B−Br] where f c the center frequency SIG-MF is characterized, where f c,band a center frequency of a total bandwidth B is characterized, where α characterizes the orientation 10-α, where B r a chirp bandwidth of the radar device 10, 10' is characterized.

[0037] The chirp bandwidth of an FMCW radar refers, for example, to the frequency range covered by a transmitted radar signal (SIG) 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.

[0038] For example, Fig. 3, the method includes: Synchronizing 110, for example, synchronizing 110a at least one aspect of the radar device 10, 10', for example, the at least one time resource SIG-ZR, with a reference time T-REF, for example, a global reference time. This ensures, in some examples, that multiple radar devices 10, 10' according to the disclosure use a uniform grid of time resources, which can reduce possible mutual interference. The optional block 112 according to Fig. 3 symbolizes an optional transmission of the SIG signal by means of the radar device 10 according to the at least one time resource SIG-ZR.

[0039] In some examples, Fig. 4, it is provided that the method comprises: using 120 of two states Z1, Z2 for a possible transmission of the signal SIG, wherein a first state Z1 of the two states is associated with a transmission 122 of the signal SIG according to the at least one time resource SIG-ZR, for example in a time slot (for example starting the transmission 104 at the start time SZ of the time slot ZS), wherein a second state Z2 of the two states is associated with a waiting 124 for the at least one time resource SIG-ZR, for example a time slot, wherein, for example, in the second state Z2 no transmission of the signal SIG takes place.

[0040] In some examples, Fig. 2. It is provided that at least one time resource SIG-ZR, for example a length, for example a duration, of at least one time slot ZS, is specified, for example standardized, for example for different types of radar devices, for example comprising at least one of the following elements: a) "short-range radar", or b) medium-range radar, or c) long-range radar. In other words, in some examples it may be provided that a radar device of type "short-range radar" uses time slots with a first length or duration for transmitting signals SIG, while a radar device of another type, e.g. "medium-range radar", uses time slots with a second length or duration for transmitting signals SIG, the second length being different from the first length.

[0041] In some examples, Fig. 5, it is provided that the method includes at least one of the following elements: a) exchanging 130, for example transmitting 130a and / or receiving 130a, the first information I-1, for example with at least one further device, for example at least one further radar device 10', or b) exchanging 132, for example transmitting 132a and / or receiving 132b the second information I-2, for example with at least one further device, for example at least one further radar device 10'.

[0042] For further examples, Fig. 6, the method may include at least one of the following elements: a) signaling 140, for example to at least one further radar device 10', for example by means of a communication system KS ( Fig. 2) that in a future, for example subsequent, time resource, for example a future, for example subsequent, timeslot, the signal SIG will be transmitted, or b) receive 142, for example by means of a communication system KS, a signaling from at least one further radar device 10', wherein the signaling indicates that the at least one further radar device 10' will transmit a signal in a future, for example subsequent, time resource, for example a future, for example subsequent, timeslot. In some examples, for signaling 140 or receiving 142, for example an information element may be provided which is contained in a message or as part of a message of the communication system KS ( Fig. 2) may be provided for. For example, an existing message of the communication system KS may be extended to include the information element according to the disclosure. The communication system KS may, for example, 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.

[0043] Some examples, Fig. 7, refer to a device 20 for at least one radar device 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 the disclosure.

[0044] In some examples, Fig. 7, 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 the second information I-2), b) computer program PRG, for example for carrying out the method according to the disclosure.

[0045] For further examples, Fig. 7, 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.

[0046] Further examples, Fig. 7, refer to a computer-readable storage medium SM, comprising instructions PRG which, when executed by a computer 202, cause it to execute the procedure according to the disclosure.

[0047] Further examples, Fig. 7, refer to a computer program PRG, comprising instructions which, when the program PRG is executed by a computer 202, cause it to execute the procedure according to the disclosure.

[0048] Further examples, Fig. 7, refer 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).

[0049] In some examples, Fig. 7. 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.

[0050] Some examples, Fig. 2, refer to a radar device 10, 10' for frequency-modulated continuous wave operation, for example FMCW radar device 10, 10', for example for a vehicle 1 and / or for an infrastructure facility 2, comprising at least one device 200 according to the disclosure.

[0051] Some examples, Fig. 2, refer to a vehicle 1 having at least one device 200 according to the disclosure and / or at least one radar device 10 according to the disclosure.

[0052] 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.

[0053] Some examples, Fig. 2, refer to a system 100 comprising at least one device 200 according to the disclosure and / or at least one vehicle 1 according to the disclosure and / or at least one infrastructure facility 2 according to the disclosure.

[0054] 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.

[0055] The principle according to the disclosure can be applied, for example, in a scenario with two directions of travel for radar devices 10, 10' ( Fig. 2) vehicles (e.g. North and South) can be used, since in this scenario, for example, a maximum distance between the center frequencies of the signals of the two can be achieved.

[0056] The principle according to the revelation can also be used in other scenarios, for example where different vehicles are closer together, e.g. at road junctions or in urban environments.

[0057] In contrast to some conventional approaches, some examples according to the disclosure exploit the fact that, for example, a start time for a radar signal SIG, e.g. in the form of an FMCW chirp, can be specified, for example determined locally in a respective radar device 10, 10'. This makes it possible in some examples to reduce the number of different chirp start times from various radars, for example to bring them into a common time grid, e.g. according to the time slots mentioned above, thereby reducing interference energy or power in some examples compared to some conventional approaches.

[0058] In some examples, applying the principle according to the disclosure, a case may arise in which several radar devices 10, 10' start their chirp sequence at a specific start time, thus transmitting their signals SIG at that start time. If, in this case, the difference between the center frequencies of the two chirp sequences is less than a receiver bandwidth, interference can potentially be reduced, for example, by improved interference reconstruction and / or attenuation. However, if, in the aforementioned case, the difference between the center frequencies of the two chirp sequences is greater than the receiver bandwidth, the chirp sequences are, for example, orthogonal.

[0059] In some examples, the principle according to the disclosure makes it possible to effect an interference reduction with respect to radar devices 10, 10' by, for example, in a specific geographical area, e.g., the vicinity UM, according to Fig. 2. Dedicated time resources, e.g., time windows or time slots, are assigned for transmitting their signals (SIG). For example, each radar device (10, 10') may, in some examples, only be able to transmit within a specific start time (t). s These time windows or time slots transmit. If a radar device 10, 10' its transmission capability at the start time t s If it misses, it must wait, for example, until the duration of the time window has expired, i.e., until a new, subsequent time resource is available for sending 104 ( Fig. 1) has become available.

[0060] In some examples, the principle according to the disclosure allows no communication between the radar devices 10, 10' or their target systems 1, 2 to take place, because the principle according to the disclosure allows, for example, decentralized operation and / or decentralized configuration.

[0061] In some examples, the principle, as disclosed, can cause binary interference scenarios, for example, when using a time-slot transmission scheme. This means, for example, that a transmission duration within a given time period can be either "interference-free" or "interference-free." In some examples, the following can occur in both cases: ▪ Interference-free: no interference problem, ▪ Full interference duration: The interference covers, for example, an entire temporal baseband signal and consequently a limited spectrum in the frequency domain.

[0062] In some examples, the position of a jammer can be transmitted via messages such as CPM (cooperative perception message) and / or CAM (cooperative awareness message), for example using the KS communication system. If, for example, a jammer's radar modulation scheme and its position are known, the jam can be modeled in some examples and, for example, at least partially eliminated.

[0063] In some examples, e.g. in the second state Z2 ( Fig. 4) For example, while waiting for the next time resource, e.g., a time slot, one or more, e.g., specific, messages or signals are transmitted to other devices, such as vehicles and / or radar devices and / or infrastructure facilities, wherein the messages or signals contain, for example, at least one of the following elements: ▪ Presence of interference in the next time slot. This can, for example, be a relatively uninformative message, e.g., a binary value indicating whether a radar device 10 will be activated in the next time slot.

[0064] In some examples, it is therefore unnecessary to send a comparatively highly informative jamming signal message, e.g., specifying a radar type and / or modulation parameters. This is made possible, for example, by the fact that the radar devices 10, 10' can each independently determine a center frequency and a time resource for a signal SIG to be transmitted, based on the information I-1, I-2. In other words, at least some parameters of the radar devices 10, 10' can thus be determined, for example, derived, in a distributed, i.e., decentralized, manner.

[0065] In some examples, it may be provided that a radar device 10 or a vehicle 1 containing it, e.g. Ego vehicle, is detected, e.g., by means of optional signaling, e.g., "fault presence message", (see Fig. 6) and, for example, the distance of other vehicles from the ego vehicle determines whether it reconstructs and cancels a disturbance when receiving radar signals (e.g., at short distances) or ignores it (e.g., at long distances).

[0066] Some examples, Fig.8, 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' according to the disclosure and / or the vehicle 1 according to the disclosure and / or the infrastructure facility 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 FMCW radar devices 10, 10', or b) reducing 302, for example, mutual interference of FMCW radar devices 10, 10', or c) decentralized allocation 303 of center frequencies SIG-MF for FMCW radar devices 10, 10', or d) decentralized allocation 304 of time resources SIG-ZR for FMCW radar devices 10, 10',or e) Increase 305 the efficiency and / or reliability of the operation of multiple FMCW radar devices 10, 10' in the same environment UM, or f) Coordinate 306 time resources SIG-ZR for FMCW radar devices 10, 10', for example, FMCW radar devices 10, 10' located in the same environment UM, or g) Avoid 307, for example, by refraining from coordination with at least one other radar device 10'.

Claims

[1] Method, for example a computer-implemented method, for a radar device (10; 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) characterizing a center frequency (SIG-MF) for at least one signal (SIG) to be transmitted by means of the radar device (10; 10'), based on an orientation (10-α) of the radar device (10), for example based on a geographical orientation, for example with respect to a reference orientation; providing (102), for example determining (102a), second information (I-2) characterizing at least one time resource (SIG-ZR) for the signal transmitted by means of the radar device (10;10') characterize the signal (SIG) to be transmitted, and, optionally, transmit (104) the signal (SIG) at the center frequency (SIG-MF) according to, for example, in, the at least one time resource (SIG-ZR) by means of the radar device (10; 10').; [2] Method according to claim 1, wherein the second information (I-2), for example the at least one time resource (SIG-ZR), characterizes a start time (SZ) for sending (104) the signal (SIG). [3] Method according to at least one of the preceding claims, wherein the second information (I-2), for example the at least one time resource (SIG-ZR), characterizes at least one time slot (ZS) for sending (104) the signal (SIG). [4] Method according to at least one of the preceding claims, wherein the provision (102), for example determination (102a), of the second information (I-2) comprises at least one of the following elements: a) provision (102b) of the second information (I-2) based on a, for example, geographic position (10-POS) of the radar device (10; 10'), or b) determination (102c) of the second information (I-2) based on a, for example, geographic position (10-POS) of the radar device (10; 10'), wherein, for example, the position (10-POS) of the radar device (10; 10') can be characterized by an affiliation with, for example, an arrangement of the radar device (10; 10') in, for example, a geographic area. [5] Method according to at least one of the preceding claims, wherein the provision (100), for example determination (100a), of the first information (I-1) comprises at least one of the following elements: provision (100b) and / or determination (100c) of the first information (I-1) based on the orientation (10-α) and at least one bandwidth associated with the radar device (10; 10'), for example according to fc=fc,band+α2π[B−Br], f c where f c the center frequency (SIG-MF) is characterized, where f c,band a center frequency of a total bandwidth B is characterized, where α characterizes the orientation (10-α), where B r a chirp bandwidth of the radar device (10; 10') is characterized. [6] Method according to at least one of the preceding claims, comprising: synchronizing (110), for example synchronizing (110a) at least one aspect of the radar device (10; 10'), for example the at least one time resource (SIG-ZR), with a, for example global, reference time (T-REF). [7] Method according to at least one of the preceding claims, comprising: using (120) two states (Z1, Z2) for a possible transmission of the signal (SIG), wherein a first state (Z1) of the two states (Z1, Z2) is associated with a transmission (122) of the signal (SIG) according to the at least one time resource (SIG-ZR), for example in a time slot, wherein a second state (Z2) of the two states (Z1, Z2) is associated with a waiting (124) for the at least one time resource (SIG-ZR), for example a time slot, wherein, for example, in the second state (Z2) no transmission of the signal (SIG) takes place. [8] Method according to at least one of the preceding claims, wherein the at least one time resource (SIG-ZR), for example a length, for example a duration, of at least one time slot (ZS), is specified, for example standardized, for example for different types of radar devices, for example comprising at least one of the following elements: a) short-range radar, or b) medium-range radar, or c) long-range radar. [9] Method according to at least one of the preceding claims, comprising at least one of the following elements: a) exchanging (130), for example transmitting (130a) and / or receiving (130b) the first information (I-1), for example with at least one further device, for example at least one further radar device (10'), or b) exchanging (132), for example transmitting (132a) and / or receiving (132b) the second information (I-2), for example with at least one further device, for example at least one further radar device (10'). [10] Method according to at least one of the preceding claims, comprising at least one of the following elements: a) signaling (140), for example to at least one further radar device (10'), for example by means of a communication system (CS), that in a future, for example subsequent, time resource, for example a future, for example subsequent, time slot, the signal (SIG) will be sent, or b) receiving (142), for example by means of a communication system (CS), a signaling from at least one further radar device (10') indicating that the at least one further radar device (10') will send a signal (SIG') in a future, for example subsequent, time resource, for example a future, for example subsequent, time slot. [11] Device (200) for at least one radar device (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 carry out the method according to at least one of the preceding claims. [12] Radar device (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 11. [13] Vehicle (1) comprising at least one device (200) according to claim 11 and / or at least one radar device (10) according to claim 12. [14] Infrastructure facility (2), for example roadside infrastructure facility, for example roadside unit, comprising at least one device (200) according to claim 11 and / or at least one radar device (10') according to claim 12. [15] System (1000) comprising at least one device (200) according to claim 11 and / or at least one vehicle (1) according to claim 13 and / or at least one infrastructure facility (2) according to claim 14. [16] 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 10. [17] 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 10. [18] Data carrier signal (DCS) that transmits and / or characterizes the computer program (PRG) according to claim 17. [19] Use (300) of the method according to at least one of claims 1 to 10 and / or the device (200) according to claim 11 and / or the radar device (10; 10') according to claim 12 and / or the vehicle (1) according to claim 13 and / or the infrastructure facility (2) according to claim 14 and / or the system (1000) according to claim 15 and / or the computer-readable storage medium (SM) according to claim 16 and / or the computer program (PRG) according to claim 17 and / or the data carrier signal (DCS) according to claim 18 for at least one of the following elements: a) operating (301) FMCW radar devices (10; 10'), or b) reducing (302) interference, for example mutual interference, between FMCW radar devices (10; 10'), or c) decentralized allocation (303) of center frequencies for FMCW radar devices (10; 10'), or d) decentralized allocation (304) of time resources for FMCW radar devices (10;10'), or e) increasing (305) the efficiency and / or reliability of the operation of multiple FMCW radar devices (10; 10') in the same environment (UM), or f) coordinating (306) time resources for FMCW radar devices (10; 10'), for example, in the same environment (UM), or g) avoiding (307), for example, by omitting coordination with at least one other radar device (10').;

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