Method and apparatus for processing data associated with at least one radar device

Abstract

A method, for example a computer-implemented method, for processing data associated with at least one mobile radar device, for example for a vehicle, comprising: providing first information associated with the at least one radar device, organizing the first information in a data structure, wherein the data structure comprises at least the following elements: a) a first information element characterizing a reference system, for example for a spatial reference, b) a second information element characterizing first sensor information from at least one radar sensor of the at least one radar device, optionally c) a third information element characterizing motion information, optionally d) a fourth information element characterizing second sensor information from the at least one radar sensor of the at least one radar device.

Description

State of the art

[0001] The disclosure relates to a method for processing data associated with at least one radar device.

[0002] The disclosure relates to a device for processing data associated with at least one radar device. Disclosure of the invention

[0003] Some examples refer to a method, for example a computer-implemented method, for processing data associated with at least one mobile radar device, for example for a vehicle, such as a motor vehicle, comprising: providing initial information associated with the at least one radar device, organizing the initial information in a data structure, wherein the data structure comprises at least the following elements: a) a first information element characterizing a reference system, for example for a spatial reference, b) a second information element characterizing initial sensor information from at least one radar sensor of the at least one radar device, optionally c) a third information element characterizing motion information (e.g.the at least one radar device and / or a device for carrying out aspects of the method according to the disclosure), optionally d) a fourth information element characterizing second sensor information from the at least one radar sensor of the at least one radar device. This enables, in some examples, particularly efficient processing of the data associated with the at least one radar device, for example for transmitting the data to at least one other device and / or for fusing corresponding data from several radar devices.

[0004] In some examples, the method is not limited to mobile radar systems, but can also be applied to quasi-stationary or stationary radar systems, such as those used for infrastructure facilities like roadside units (RSUs). This allows for efficient processing of data from different types of radar systems or from different types of facilities, such as vehicles and infrastructure.

[0005] For example, providing includes at least one of the following elements: a) receiving the first information, for example from the at least one radar device, or b) determining the first information, for example locally in a device designed to carry out aspects of the method according to the disclosure.

[0006] In some examples, the procedure involves sending the initial information, for example in the form of the data structure, to at least one other device. In some examples, the sending can be done, for example, via a wireless communication system, such as a mobile communication system, e.g., according to and / or based on type 3G, 4G, 5G, 6G, or the like, and / or via another data connection.

[0007] For example, the first information element includes at least one of the following: a) positional information, for example characterizing a reference position, for example an origin, for example characterizable and / or characterized by at least one of: a1) a longitude coordinate, for example geographic, or a2) a latitude coordinate, for example geographic, or a3) an altitude coordinate, wherein, for example, at least one of the elements a1), a2), a3) includes at least one statistical parameter, for example a standard deviation, or b) information characterizing a reference coordinate system, for example characterizable by a 3-tuple or a vector, or c) time information, for example characterized by a first time information element, for example according to a UTC time format, and, optionally,by a second time information element, which, for example, specifies a multiple of a nanosecond, for example as an offset with respect to the first time information element.

[0008] In some examples, in addition to the value for the longitude coordinate and / or the value for the latitude coordinate and / or the value for the altitude coordinate, at least one respective statistical parameter, such as a standard deviation, may be provided, e.g., in the position information.

[0009] In some examples, the second information element, for example for the at least one radar sensor, for example for several, for example all, radar sensors, is provided to have at least one of the following elements: a) sensor position information characterizing a position, for example origin coordinate, of the at least one radar sensor, or b) variant information characterizing a variant of the at least one radar sensor, or c) a descriptive information element, e.g. a descriptive text, such as "radar_front_right".

[0010] In some examples, it is provided that possible variants of the at least one radar sensor and / or of data associated with the at least one radar sensor are, by way of example and not exhaustively, characterized by: a) spectrum, for example full spectrum, or b) points, or c) sparse spectrum.

[0011] In some examples, data associated with the spectrum include one or more of the following elements: a) distance in meters, e.g., specified in the form [R_min:R_delta:R_max], where R_min characterizes, for example, a minimum distance, R_delta characterizes, for example, a step size or resolution of distance values, and R_max characterizes, for example, a maximum distance; or b) Doppler (e.g., radial velocity, e.g., in meters / second), e.g., specified in the form [D_min:D_delta:D_max], where D_min characterizes, for example, a minimum value, D_delta characterizes, for example, a step size or resolution, and D_max characterizes, for example, a maximum value; or c) azimuth in angles, e.g., specified in the form [A_min:A_delta:A_max], where A_min characterizes, for example, a minimum value, and A_delta characterizes, for example, a step size or resolution.Resolution is characterized, where A_max, for example, characterizes a maximum value, or d) elevation in angles, for example, specified in the form [E_min:E_delta:E_max], where E_min, for example, characterizes a minimum value, where E_delta, for example, characterizes a step size or resolution, where E_max, for example, characterizes a maximum value, or d) azimuthal velocity (e.g., angular velocity in angles / second), for example, specified in the form [AS_min:AS_delta:AS_max], where AS_min, for example, characterizes a minimum value, where AS_delta, for example, characterizes a step size or resolution, where AS_max, for example, characterizes a maximum value.

[0012] In some examples, data associated with the "sparse spectrum" exhibit one or more of the following elements: a) a number, e.g., a collection, of points P1,...,Pn in the spectral range, or b) one or more, for example, rectangular spectral regions assigned to a given point, where, for example, the point lies at the center of the spectral region. In some examples, at least two spectral regions may overlap.

[0013] In some examples, the data associated with the points (as a variant of the radar sensor) include one or more of the following elements: a) a number of, for example, abstract, points, P1,...,Pn, , or b) data associated with the respective points (e.g., characterizing a position and / or orientation, etc.). In some examples, the abstract points are relatively freely adaptable, e.g., in contrast to the points of a sparse spectrum. In some examples, the abstract points P1,...,Pn do not characterize geometric locations in, for example, a three-dimensional space, but rather coordinates in, for example, higher-dimensional and / or abstracted data or feature spaces.

[0014] For example, the optional third information element includes at least one of the following: a) velocity information, or b) acceleration information, and optionally at least one statistical parameter, for example a standard deviation, for the velocity information and / or the acceleration information.

[0015] For example, in the case of a variant of the at least one radar sensor of type "spectrum", the optional fourth information element comprises at least one of the following elements: a) timestamp information, for example characterizing a temporal offset, for example in nanoseconds, or b) spectrum information, for example characterizing a tensor, for example in a Base64 encoding, wherein, for example, the optional fourth information element in the case of the variant of the at least one radar sensor of type "spectrum" comprises a plurality of timestamp information and spectrum information associated with the timestamp information.

[0016] For example, in the case of a variant of at least one radar sensor of type "points", the optional fourth information element includes at least one of the following elements: a) timestamp information, for example characterizing a time offset, for example in nanoseconds, or b) count information characterizing a number of points, or c) dot matrix information associated with the number of points, for example in a Base64 encoding.

[0017] For example, in the case of a variant of at least one "sparse spectrum" radar sensor, the optional fourth information element includes at least one of the following elements: a) timestamp information, for example characterizing a temporal offset, for example in nanoseconds, or b) center information characterizing a center of a respective spectrum range, or c) size information characterizing an extent of a respective spectrum range, for example as an integer multiple of a predefinable unit of size, or d) spectrum information of a respective spectrum range, for example characterizing a tensor, for example in a Base64 encoding.

[0018] In some examples, the procedure involves: receiving secondary information associated with at least one mobile radar unit and at least one other unit, such as another vehicle, where, for example, the secondary information is organized in a format corresponding to the data structure, and, optionally, fusing the primary information with the secondary information. In some examples, this enables particularly efficient processing of the data, such as fusing and / or further processing following fusing.

[0019] For example, the method includes at least one of the following elements: a) using a text-based data format, such as a file format, for data serialization, for example for organizing, such as a YAML format; or b) fusing the first piece of information with information from at least one other radar device, wherein, for example, the information to be fused is associated with the same variant of the at least one radar device; or c) converting aspects of the optional fourth piece of information, for example, from a first data format associated with a first variant of a first radar sensor to a second data format associated with a second variant of a second radar sensor.

[0020] Some examples refer to a method, for example a computer-implemented method, for processing data associated with at least one mobile radar device, for example for a vehicle, such as a motor vehicle, comprising: receiving initial information associated with the at least one radar device, wherein the initial information is organized in a data structure, the data structure comprising at least the following elements: a) a first information element characterizing a reference system, for example for a spatial reference, b) a second information element characterizing initial sensor information from at least one radar sensor of the at least one radar device, optionally c) a third information element characterizing motion information.optional d) a fourth information element characterizing second sensor information from the at least one radar sensor of the at least one radar device, and, optionally, processing at least some part of the first information, for example fusing at least some part of the first information with further information.

[0021] Some examples relate to a device for processing data associated with at least one, for example mobile, radar device, for example for a vehicle, such as a motor vehicle, wherein the device is configured to perform the method according to the disclosure.

[0022] In some examples, the device may also be intended for a quasi-stationary or stationary facility, such as an infrastructure facility, e.g., an RSU.

[0023] Further examples relate to a vehicle, for example a motor vehicle, comprising at least one device according to the disclosure.

[0024] Further examples relate to an infrastructure facility, for example a roadside unit, comprising at least one device according to the disclosure.

[0025] Further examples relate to a system, for example a communication 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.

[0026] Other examples relate to a computer-readable storage medium comprising instructions which, when executed by a computer, cause it to perform the procedure according to the disclosure.

[0027] Other examples relate to a computer program, comprising instructions which, when the program is executed by a computer, cause it to perform the procedure according to the disclosure.

[0028] Further examples relate to a data carrier signal that transmits and / or characterizes the computer program according to the disclosure.

[0029] Further examples relate to a data structure, for example a computer-implemented data structure, for example storable on a computer-readable storage medium or data carrier, for processing data associated with at least one mobile radar device, for example for a vehicle, for example motor vehicle, for organizing first information associated with the at least one radar device, wherein the data structure has at least the following elements: a) a first information element characterizing a reference system, for example for a spatial reference, b) a second information element characterizing first sensor information from at least one radar sensor of the at least one radar device, optionally c) a third information element characterizing motion information.optional d) a fourth information element characterizing second sensor information from the at least one radar sensor of the at least one radar device.

[0030] Further examples relate to the use of the method according to the disclosure and / or the 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 communication 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 and / or the data structure according to the disclosure for at least one of the following elements: a) connecting mobile radar devices, for example in the sense of connected radar, or b) improving object detection and / or instance detection, or c) improving motion models, or d) improving collision detection, or e) connecting mobile radar devices, or f) increasing safety, for example in road traffic.

[0031] 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.

[0032] The drawing shows: Fig. 1. A simplified flowchart (schematical). Fig. 2. A simplified block diagram (schematically). Fig. 3. A simplified block diagram (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 schematically a graphical representation of information, Fig. 9. Schematically, a graphical representation of information, Fig. 10 schematic examples of uses.

[0033] Some examples, e.g. Fig. 1, Fig. 2, Fig. 3, refer to a method, for example a computer-implemented method, for processing with at least one mobile radar device 12 ( Fig. 3), for example, for a vehicle 10, for example, motor vehicle, showing associated data: providing 100 ( Fig. 1) of first information 1-1 associated with at least one radar device 12, organizing 102 the first information I-1 in a data structure DS ( Fig. 2), wherein the data structure DS comprises at least the following elements: a) a first information element IE-1 characterizing a reference system REF-SYS, for example for a spatial reference, b) a second information element IE-2 characterizing first sensor information I-SENS-1 of at least one radar sensor 12a of the at least one radar device 12, optionally c) a third information element IE-3 characterizing motion information I-MOV (e.g. of the at least one radar device 12 and / or a device 200 for carrying out aspects of the method according to the disclosure or of the vehicle 10), optionally d) a fourth information element IE-4 characterizing second sensor information I-SENS-2 of the at least one radar sensor 12a of the at least one radar device 12.In some examples, this enables particularly efficient processing of the data associated with the at least one radar device 12, for example for transmitting the data to at least one other device, e.g. another vehicle 10a or a device 200a assigned to the other vehicle 10a and / or an infrastructure device 20 or a device 200b assigned to the infrastructure device 20, and / or for fusing corresponding data from several radar devices 12, 12', 22.

[0034] In some examples, Fig. 2. The method is not limited to mobile radar installations 12, 12' (e.g., from vehicles 10, 10a), but is also applicable, for example, to quasi-stationary or stationary radar installations 22, such as those used for infrastructure facilities 20, for example, roadside units (RSUs). In some examples, this enables efficient processing of data from radar installations 12, 12', 22 of different types or from different installations, such as vehicles 10, 10a and infrastructure facilities 20.

[0035] For example, Fig. 1, the provision 100 comprises at least one of the following elements: a) Receiving 100a of the first information I-1, for example by a device 200 designed to carry out aspects of the method according to the disclosure, for example by the at least one radar device 12, or b) Determining 100b of the first information I-1, for example locally in the device 200.

[0036] In some examples, Fig. 1, the procedure is characterized by: sending 104 of the first information I-1, for example in the form of the data structure DS, to at least one further device 10a, 12', 20, 22. In some examples, the sending 104 can be carried out, for example, by means of a wireless communication system 1, for example, via a mobile communication system, for example, according to and / or based on type 3G or 4G or 5G or 6G or the like, and / or via another data connection.

[0037] For example, at least some of the devices 10, 10a, 12, 12', 20, 22 are equipped for wireless communication using communication system 1, for example, they have corresponding terminal devices, e.g., user equipment (not shown), or corresponding interfaces (not shown) to such terminal devices. In some examples, for instance, vehicle 10 may have a terminal device for communication system 1, via which the information I-1 described above, or data, e.g., in the form of the data structure DS, can be transmitted. A similar situation may also apply to at least one of the other devices 10a, 20 in other examples.

[0038] For example, Fig. 2, the first information element IE-1 comprises at least one of the following elements: a) Position information IE-1a, for example characterizing a reference position, for example an origin, for example characterizable and / or characterized by at least one of: a1) a longitude coordinate, for example geographic, for example longitude, long, or a2) a latitude coordinate, for example geographic, for example latitude, lat, or a3) an altitude coordinate alt, wherein, for example, at least one of the elements a1), a2), a3) includes at least one statistical parameter SP, for example a standard deviation, or b) Information IE-1b characterizing a reference coordinate system, for example characterizable by a 3-tuple or a vector, or c) Time information IE-1c, for example characterized by a first time information element T1, for example according to a UTC time format, and, optionally,by a second time information element T2, which, for example, specifies a multiple of a nanosecond, for example as an offset with respect to the first time information element T1.

[0039] In some examples, in addition to the value for the longitude coordinate long and / or the value for the latitude coordinate lat and / or the value for the altitude coordinate alt, at least one respective statistical parameter, such as a standard deviation, may be provided, e.g. in the position information.

[0040] In some examples. Fig. 2, it is provided that the second information element IE-2, for example for the at least one radar sensor 12a, for example for several, for example all, radar sensors 12a, 12b, respectively, comprises at least one of the following elements: a) sensor position information IE-2a characterizing a position, for example origin coordinate, of the at least one radar sensor, or b) variant information IE-2b characterizing a variant VAR of the at least one radar sensor and / or a type of data associated with the at least one radar sensor, for example provided by the at least one radar sensor, or c) a descriptive information element IE-2c, e.g. a descriptive text, such as “radar_front_right”.

[0041] In some examples, Fig. 2, it is provided that possible variants of the VAR of the at least one radar sensor 12a and / or of data associated with the at least one radar sensor 12a are, by way of example and not exhaustively, characterized by: a) spectrum, for example full spectrum, or b) points, or c) sparse, for example sparses, spectrum.

[0042] In some examples, data associated with the spectrum include one or more of the following elements: a) distance in meters, e.g., given in the form [R_min:R_delta:R_max], where R_min characterizes R_delta, where R_max characterizes R_max; or b) Doppler (e.g., radial velocity, e.g., in meters / second), e.g., given in the form [D_min:D_delta], where D_min characterizes D_delta; or c) azimuth in angles, e.g., given in the form [A_min:A_delta], where A_min characterizes A_delta; or d) elevation in angles, e.g., given in the form [E_min:E_delta], where E_min characterizes E_delta; or e) azimuthal velocity (e.g., angular velocity in angles / second), e.g., given in the form [AS_min:AS_delta], where AS_min characterizes, where AS_delta characterizes.For example, the data associated with the spectrum can be represented or characterized as a tensor. Fig. Figure 8 schematically shows a graphical representation of data associated with the spectrum according to some examples.

[0043] In some examples, Fig. 9. Data associated with the “sparse spectrum” exhibit one or more of the following elements: a) a number, e.g., a collection, of points P1,...,Pn in the spectral range (in this case, in Fig. 9. Two points P1, P2 are shown as an example), or b) one or more, for example, at least approximately rectangular spectral regions SA1, SA2, which are assigned to a respective point P1, P2, where, for example, point P1 lies in a center of the spectral region SA1. In some examples, at least two spectral regions may overlap (not shown).

[0044] In some examples, the data associated with the points (as a variant of the radar sensor) include one or more of the following elements: a) a number of points, for example abstract ones, P1,...,Pn, or b) data associated with the respective points (e.g., characterizing a position and / or orientation, etc.). In some examples, the abstract points are relatively freely adjustable, e.g., in contrast to the points of a sparse spectrum.

[0045] For example, Fig. 2, the optional third information element IE-3 includes at least one of the following: a) velocity information IE-3a, or b) acceleration information IE-3b, and optionally at least one statistical parameter SP', for example a standard deviation, for the velocity information IE-3a and / or the acceleration information IE-3b.

[0046] For example, Fig. 4, the optional fourth information element IE-4 in the case of a variant of the at least one radar sensor of type “spectrum” has at least one of the following elements: a) timestamp information IE-4a, for example characterizing a time offset, for example in nanoseconds, or b) spectrum information IE-4b, for example characterizing a tensor, for example in a Base64 encoding, wherein, for example, the optional fourth information element IE-4 in the case of the variant of the at least one radar sensor of type “spectrum” has a plurality of timestamp information IE-4a and spectrum information IE-4b associated with the timestamp information IE-4a.

[0047] For example, Fig. 2, the optional fourth information element IE-4 in the case of a variant of the at least one radar sensor of type “points” has at least one of the following elements: a) timestamp information IE-4a, for example characterizing a time offset, for example in nanoseconds, or b) count information IE-4c characterizing a number of points, or c) point matrix information IE-4d associated with the number of points, for example in a Base64 encoding.

[0048] For example, Fig. 2, the optional fourth information element IE-4, in the case of a variant of the at least one radar sensor of type “sparse spectrum”, includes at least one of the following elements: a) timestamp information IE-4a, for example characterizing a time offset, for example in nanoseconds, or b) center information IE-4e characterizing a center of a respective spectrum range SA1, SA2 ( Fig. 9), or c) IE-4f size information characterizing an extent of a respective spectrum range SA1, SA2, for example as an integer multiple of a predefinable size unit, or d) IE-4g spectrum information of a respective spectrum range SA1, SA2, for example characterizing a tensor, for example in a Base64 encoding.

[0049] In other examples, it may be intended that the data structure DS contains further information.

[0050] In some examples, Fig. 4, the procedure is characterized by: Receiving 110 of second pieces of information 1-2, which are transmitted with at least one mobile radar unit 12' ( Fig. 3) are associated with at least one other device 10a, for example another vehicle, wherein, for example, the second information I-2 is organized in a format corresponding to the data structure DS, and, optionally, merge 112 ( Fig. 4) the first piece of information I-1 with the second piece of information 1-2. In some examples, this allows for particularly efficient processing, for example, merging 112 and / or further processing (not shown) of the data following merging 112, for example, the merged data.

[0051] For example, Fig. 1, Fig. 5, the method includes at least one of the following elements: a) Use of a text-based data format DF, for example a file format, for data serialization, for example for organizing 102 ( Fig. 1) for example a YAML format, or b) merge 122 ( Fig. 5) the first information I-1 with information I-2, I-3 of at least one further radar unit 12', 22, wherein, for example, the information to be fused I-1, I-2, I-3 is organized in the form of the data structure DS and / or is associated with an identical variant VAR of the at least one radar unit 12, or c) converting aspects of the optional fourth information element IE-4 ( Fig. 2), for example, from a first data format DF1, which is associated with a first variant VAR1 of a first radar sensor 12a, to a second data format DF2, which is associated with a second variant VAR2 of a second radar sensor. In some examples, the conversion 124 can be performed, for example, to achieve data compression.

[0052] In some examples, for instance, a conversion of "spectrum" data to "sparse spectrum" data can be performed, for example using a CFAR (Constant False Alarm Rate) method.

[0053] In some examples, for instance, a conversion of "sparse spectrum" data to "spectrum" data can be performed.

[0054] In some examples, for instance, a conversion of "spectrum" data to "point" data can be performed, for example using a CFAR method and optional post-processing, e.g. depending on the complexity of features characterized by the data.

[0055] In some examples, for instance, a conversion of "sparse spectrum" data to "points" data can be performed, similar to the conversion of "spectrum" data to "sparse spectrum" data.

[0056] Some examples, Fig. 6, refer to a method, for example a computer-implemented method, for processing with at least one mobile radar device 12 ( Fig. 3), for example, for a vehicle 10, for example, a motor vehicle, having associated data: receiving 150 of first information 1-1 associated with the at least one radar device 12, wherein the first information is organized in a data structure DS, wherein the data structure DS ( Fig. 2) comprises at least the following elements: a) a first information element IE-1 characterizing a reference system, for example for a spatial reference, b) a second information element IE-2 characterizing first sensor information of at least one radar sensor of the at least one radar device, optionally c) a third information element IE-3 characterizing motion information, optionally d) a fourth information element IE-4 characterizing second sensor information of the at least one radar sensor of the at least one radar device, and, optionally, processing 152 at least a part of the first information I-1, for example fusing 152a of the at least a part of the first information I-1 with further information 1-2'.

[0057] Some examples, Fig. 7, refer to a device 200 for processing data associated with at least one, for example mobile, radar device 12, 12a, for example for a vehicle, for example motor vehicle, 10, 10a, wherein the device 200 is configured to carry out the method according to the disclosure.

[0058] In some examples, the device 200 may also be intended for a quasi-stationary or stationary facility such as an infrastructure facility, e.g., an RSU, see Block 200b according to Fig. 3.

[0059] 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. with the information 1-1 and / or 1-2, and / or I-3 and / or data associated with the data structure DS), b) computer program PRG, for example for carrying out the method according to the disclosure.

[0060] 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.

[0061] 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.

[0062] 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 perform the procedure according to the disclosure.

[0063] 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 1 ( Fig. 3).

[0064] Further examples, Fig. 3, refer to a vehicle, for example a motor vehicle, 10, 10a comprising at least one device 200, 200a according to the disclosure. For example, the device 200a is at least similarly designed to the device 200 according to Fig. 7.

[0065] Further examples, Fig. 3, refer to an infrastructure facility 20, for example a roadside unit, comprising at least one device 200b according to the disclosure. For example, the device 200b is at least similarly designed to the device 200 according to Fig. 7.

[0066] Further examples, Fig. 3, refer to a system, for example a communication system, 1 comprising at least one device 200, 200a, 200b according to the disclosure and / or at least one vehicle 10, 10a according to the disclosure and / or at least one infrastructure facility 20 according to the disclosure.

[0067] Further examples, Fig. 2, refer to a data structure DS, for example a computer-implemented data structure DS, for example storable on a computer-readable storage medium SM ( Fig. 7) or data carrier, for processing data associated with at least one mobile radar device 12, for example for a vehicle 10, for example motor vehicle, for organizing 102 first information I-1 associated with the at least one radar device 12, wherein the data structure DS comprises at least the following elements: a) a first information element IE-1 ( Fig. 2) characterizing a reference system, for example for a spatial reference, b) a second information element IE-2 characterizing first sensor information of at least one radar sensor of the at least one radar device, optional c) a third information element IE-3 characterizing motion information, optional d) a fourth information element IE-4 characterizing second sensor information of the at least one radar sensor of the at least one radar device.

[0068] 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.

[0069] The principle according to the revelation can, for example, be used for exploring a street scene in an environment UM ( Fig. 3) with one or more radar sensors 12, 12', 22, e.g., to improve road safety for the vehicles involved as well as for vulnerable road users (VRUs), e.g., pedestrians. For this purpose, reflected radar signals can be received and used to combine the associated information. This process can also be referred to as radar fusion in some examples and is particularly helpful, e.g., when a vehicle 10 is equipped with a large number of radar sensors 12a, 12b.

[0070] Nevertheless, in some examples, a vehicle 10 can only observe the part of the overall scene in an environment UM that is within its direct (or indirect) line of sight. The indirect line of sight is due, for example, to possible reflections within the scene. Particularly in challenging scenarios such as intersections or roundabouts, even indirect lines of sight are sometimes insufficient to "see" the entire scene or to capture it with the radar signals. Using the principle as disclosed, traffic safety can be improved in some of these scenarios as well, for example, by fusing information I-1, I-2 from multiple radar systems using the data structure DS as disclosed.

[0071] In some examples, Fig. 3. For example, several vehicles 10, 10a (and possibly optional infrastructure facilities 20) are present, each equipped with radar sensors 12a, 12b, ... Extending radar fusion to several vehicles 10, 10a and possibly other facilities 20 can improve the situation in some examples, as the limitations of the different lines of sight cancel each other out. For example, radar data, such as information 1-1, 1-2, 1-3, can be exchanged between the several facilities 10, 10a, 20, for example in the sense of "networked radar".

[0072] In some examples, the principle according to the disclosure can be used to provide a data format that enables networked radar, for example, efficiently designed, for example, by exchanging information between different vehicles 10, 10a or facilities 20. This can, for example, help to improve road safety, e.g., in difficult situations such as at intersections and in roundabouts.

[0073] In some examples, the principle according to the disclosure can be used to analyze data originating from one or more radar sensors, for example, to classify sensor data from radar sensors, e.g., to detect the presence of objects in the sensor data and / or to perform semantic segmentation of the sensor data, e.g., with regard to pedestrians and / or vehicles, for example, based on low-level features of the sensor data.

[0074] In some examples, the principle can be used according to the disclosure for radar analysis, e.g. in the sense of a regression, for example to determine a continuous value or several continuous values, i.e. e.g. to carry out a regression analysis, e.g. in relation to a distance and / or a speed and / or a tracking of an element, e.g. an object, in the data.

[0075] In some examples, the principle according to the disclosure can be used to control a technical system, for example a vehicle 10, 10a, and / or another technical system, such as a computer-controlled machine, such as a robot system, a household appliance, a power tool, a manufacturing machine, a personal assistant or an access control system, a system for information transmission, such as a surveillance system, for example based on processing the information organized in the form of the data structure DS.

[0076] In some examples, the principle according to the disclosure can be used to improve a driver assistance system of an autonomous vehicle.

[0077] In some examples, the principle can be applied according to the disclosure for the fusion of multiple radar data from different vehicles 10, 10a ( Fig. 3) can be used. These fused signals can be used, for example, to improve the following aspects: • Object or instance recognition, • Motion models of each instance, • Collision detection, • etc.

[0078] In some examples, a challenge in combining data from radar systems 12, 12' or their radar sensors, which are mounted on different vehicles 10, 10a, lies in the fact that the relative positions of the sensors change over time, based on the changing position of the vehicles 10, 10a. This is due, for example, to the different movements (speed and / or acceleration) of each vehicle 10, 10a involved.

[0079] Therefore, in some examples, it can be useful if each vehicle 10, 10a shares its position (and, if applicable, its motion model or predefined aspects thereof) in a uniform, for example, global, coordinate system, such as a reference coordinate system. In some examples, this can be done, for instance, by ensuring that the conversion between the reference coordinate system and the respective local coordinate system of each vehicle 10, 10a is as efficient as possible.

[0080] In some examples, Fig. 3. Each vehicle 10, 10a uses its own (e.g., local) Cartesian coordinate system, e.g., rear axle coordinate system: • X-coordinates increase from back to front, • Y-coordinates increase from left to right, • Z-coordinates increase from the rear wheels upwards. • The origin of the local coordinate system is located, for example, at a reference point on the rear axle of the vehicle (e.g., according to section 3.7.10 of ISO / FDIS 23150:2023).

[0081] In some examples, the local coordinate system is used to define a spherical coordinate system (d-α-β) of at least some, for example each, radar sensor 12a, 12b (d-α-β): • The origin of the sensor is specified, for example, in the (local) Cartesian coordinate system, • d-coordinates measure the distance from the origin, • α-coordinates measure the azimuth angle in the XY plane, • β-coordinates measure the elevation angle in the YZ plane.

[0082] In some examples, e.g., to enable networked radar, the respective origin of the local (XYZ) coordinate system of one vehicle 10 is communicated to other vehicles 10a. This is done, for example, using the following world coordinate system: • The origin is specified in longitude, altitude, and elevation: o Longitude is given in degrees, with positive entries indicating east, o Latitude is given in degrees, with positive entries indicating north, o Altitude is given in meters and describes the height above mean sea level.

[0083] In some examples, the XYZ coordinate system is provided as an element of the special orthogonal group SO(3) and can be represented by three numbers A, B and C via matrix exponentiation, e.g. according to (x1y1z1x2y2z2x3y3z3)=exp(0−CBC0−A−BA0)

[0084] This matrix is ​​referred to, for example, as the frame of the local coordinate system.

[0085] Since the dynamics of each vehicle can be communicated in some examples, a temporal "origin" or reference can also be specified. This consists, for example, of a) time, e.g., accurate to the second, e.g., in the general UTC format, e.g., "2024-02-01T20:00:10+01:00" for 10 seconds past 8 p.m. on January 2, 2024, in the CET time zone, and sub-second accuracy is specified, e.g., as multiples of nanoseconds, see also, e.g., the elements IE-1c, T1, T2 according to Fig. 2.

[0086] In some examples, each vehicle shares 10, 10a ( Fig. 3) its radar data with the respective other vehicles (and / or the facility 20), for example using the DS data structure ( Fig. 2) For example, at least some of the following information is shared, for example exchanged: a) version number of the data format, or b) world information in the world coordinate system, or c) sensor location and meta-information, or d) origin of each sensor in the local Cartesian coordinate system, or e) information on whether it sends annotated point clouds, i.e., the above variant "points", the full spectrum, or the sparse spectrum.

[0087] In some examples, one or more pieces of information about the self-motion of a radar device or radar sensor can be exchanged, including, for example, at least one of the following elements: a) A velocity is specified, e.g., in the Cartesian coordinate system. A standard deviation of the estimate can also be specified for this value, or b) An acceleration is specified in the Cartesian coordinate system. A standard deviation of the estimate can also be specified for this value.

[0088] In some examples, the sensor data actually transmitted depends, for example, on a variant of a particular radar sensor.

[0089] In some examples, a timestamp in nanoseconds is sent with the data from at least one, for example, each, radar sensor. This is, for example, a sensor-specific offset that is added to the temporal origin of each vehicle. In some examples, this allows for a precise representation of the data, as it can be adapted to the known intrinsic motion of the respective device or system 12, 12' or apparatus 200, 200a, ...

[0090] In some examples, radar data exchanged using the DS data structure can be combined from each device, e.g., to improve radar-based perception.

[0091] In some examples, VAR can be used for different variants ( Fig. 3) different metadata and / or data are processed from radar sensors or from information that can be provided by means of radar sensors, for example, sent and / or received: As an example according to "Variant 1," a spectrum, for example a "full spectrum," is mentioned. A spectrum can be represented as a tensor in multiple dimensions. Supported names for these dimensions include: a) "range," which describes the distance from the sensor and is given, for example, in meters; b) "doppler," which describes the radial velocity of an object and is given, for example, in meters per second; c) "azimuth angle," which is given, for example, in degrees; d) "elevation angle," which is given, for example, in degrees; and e) "azimuth speed," which is the angular velocity and is given, for example, in degrees per second.

[0092] In some examples, a variant entry of a data format DF according to the disclosure consists of the following, for example six, entries: a) "dimension", this is a list with "range", "doppler", "azimuth", "elevation", and "azimuthspeed". Both "range" and "azimuth" are mandatory in some examples. The order in the list can be chosen freely, for example. b) "min_pos", "delta", and "max_pos", this is a list of floating-point numbers that describe the range of the spectrum. c) "type", this is the data type of the spectrum and supports, for example, integer and / or float and / or unsigned. d) "size", specifies how many bytes are used for the data type.

[0093] For example, the data for this variant is transferred in a Raw Major format.

[0094] As an example according to "Variant 2", a spectrum, for example a "sparse spectrum", is mentioned. In some examples, a sparse spectrum can be characterized by: a) A number, e.g. collection, of points in the spectral range, where each point is assigned a e.g. rectangular spectrum with a point at its center. These rectangular areas correspond, e.g. to the above spectrum ranges SA1, SA2 ( Fig. 9), may overlap in some examples.

[0095] In some examples, a variant specification for "sparse spectrum" is the same as for "spectrum", for example, "full spectrum" (variant 1). The entries for "min_pos" and "max_pos" identify, for example, a field of view of the respective radar sensor 12a, 12b.

[0096] In addition to the data and the timestamp, "Variant 2" provides, for example, two further entries: a) "centers", which describe the center of each spectrum range, b) "extends", which describe the size of each spectrum range.

[0097] For example, the actual data (e.g., sensor data from the radar sensor) are transmitted in the same order in which they are described in "centers" and "extends", for example in a chained row-major format.

[0098] As an example according to "Variant 3," points, for instance in the form of an annotated point cloud, are mentioned. For example, a point cloud according to "Variant 3" consists of a) a number, e.g., a collection, of points, b) each point is assigned a list of user-defined data (point, RCS (radar reflectance area), etc.). In some examples, the following entries are mandatory: a) rcs describes the radar reflectance area, b) "point_x," "point_y," and "point_z," e.g., in XYZ (e.g., Cartesian) coordinates, c) "velocity_x," "velocity_y," and "velocity_z" describe the radial velocity in the XYZ region (i.e., in Cartesian coordinates), d) "quality," a value between e.g., 0.0 and e.g., 1.0, which describes the quality of a point. The "quality" value can, for example, depend on the type or manufacturer of a radar sensor 12a.

[0099] In some examples, for "Variant 3" an entry is provided in addition to the data and the timestamp: "number", which describes the number of points that make up the point cloud. This defines, for example, a matrix P ∈ R. N×D , where N represents the value of the number and D the length of the user-defined data. In some examples, the matrix P is transferred in row-major format.

[0100] For example, the data structure DS ( Fig. 2) provided in the form of a file, as disclosed, for example, stored. In some examples, a suffix, such as the file extension ".rdf", is suggested.

[0101] Below is a simplified example of a DS data structure: # .RDF v0.1 -Radar Data Format # HEAD of File version: v0.1.0 world:<world_information> sensor:<sensor_information> # BODY of File ego:<ego_information> data:<data_information>

[0102] In some examples, the data structure may have a header (e.g., "Header Data"), where in this case the version information is "version: v0.1.0" and the information "world:<world_information> “, “sensor:<sensor_information> "are assigned to the header. A body, i.e., user data, contains the information "ego:"<ego_information> "data:<data_information> " on.

[0103] For example, the information “world:<world_information> “characterizable by at least the first information element IE-1 ( Fig. 2) or its components IE-1a, IE-1b, IE-1c, illustrated below by an example: world: position: longitude: value: 48.78768 std: 0.02 altitude: value: 8.91689 std: 0.03 height: value: 409 frame: [0.0, 0.1, -0.5] now: utc: 20240101T000000+0100 offset: 123456789, where the section “position:” can, for example, be represented by the position information IE-1a according to Fig. 2, where the section “frame:” can be represented, for example, by the information IE-1b according to Fig. 2 characterizing the reference coordinate system, and where the section “now:” can be represented, for example, by the time information IE-1c according to Fig. 2, where element T1 implements the UTC time specification, and where element T2 implements the above “offset”, e.g. in nanoseconds.

[0104] For example, the information “sensor:<sensor_information> “characterizable by at least the second information element IE-2 ( Fig. 2) or its components IE-12, IE-2b, IE-2c, illustrated below by an example: sensor: radar_front_right: position: [2.53, -0.45, 1.3] variant:<variant_information> where the section “radar_front_right:” is, for example, the descriptive information element IE-2c according to Fig. 2 represents, where the section “position: [2.53, -0.45, 1.3]” represents, for example, the sensor position information IE-2a according to Fig. 2 characterized, and where the section “variant:<variant_information> “for example, the variant information IE-2b according to Fig. 2 characterized.

[0105] In some examples, the element “variant” can take on one of the following values ​​(non-exhaustive example): a) “spectrum”, or b) “sparse”, or c) “points”.

[0106] For example, the information “ego:<ego_information> “characterizable by at least the third information element IE-3 ( Fig. 2) or its components IE-3a, IE-3b, SP', illustrated below by an example: ego: speed: value: [0.00, 0.00, 0.00] std: [0.01, 0.01, 0.00] acceleration: value: [0.00, 0.00, 0.00] std: [0.1, 0.00, 0.00], where the section “speed:” characterizes, for example, the speed information IE-3a (present here as a 3-tuple or vector containing three elements) (see the element “value:”), together with a respective standard deviation for the speed information “std: [0.01, 0.01, 0.00]”, e.g. in the sense of the element SP' according to Fig. 2, and where the section ‘acceleration:’ contains the acceleration information IE-3a according to Fig. 2 (“value”) and optionally characterizes at least one statistical parameter (“std”) for the acceleration information, for example a standard deviation.

[0107] For example, in some examples the information “data:<data_information> “characterizable by at least the fourth information element IE-4 ( Fig. 2) or its components IE-4a, IE-4b, ..., illustrated below by an example of "Variant 1", i.e., sensor data of type "spectrum" or "Spektrum":data: radar_front_right: -timestamp: 12 base64: !!binary |<BASE64 ENCODING> -timestamp: 4200023 where the section “timestamp: 12”, for example, contains a first set of timestamp information according to IE-4a. Fig. 2 characterized, where the section “base64: !!binary |<BASE64 ENCODING> “for example, an initial set of spectrum information IE-4b according to Fig. 2 characterized, which are associated with the first set of IE-4a timestamp information, where, for example, the section “timestamp: 4200023” represents a second set of IE-4a timestamp information according to Fig. 2 characterized, etc.

[0108] In some other examples, the information is "data: <data_information> " characterizable by at least the fourth information element IE-4 ( Fig. 2) or at least some of its components IE-4a, IE-4b, ..., illustrated below by an example of “Variant 2”, For example, sensor data of the type "sparse spectrum" or "sparses / sparse spectrum": data: radar_front_right: -timestamp: 980023 centers: [[0.1, 0.0], [3.2, -24.0], [17.0, 30.0]] extends: [[20, 10], [10, 30], [5, 5]] base64: !!binary |<BASE64 ENCODING> where the section “timestamp: 980023”, for example, contains an initial set of timestamp information according to IE-4a. Fig. 2 characterized, where the section “centers: [[0.1, 0.0], [3.2, -24.0], [17.0, 30.0]]” for example contains the center information IE-4e according to Fig. 2 characterized, where the section “extends: [[20, 10], [10, 30], [5, 5]]” contains, for example, the size information IE-4f according to Fig. 2 is characterized, for example, as an integer multiple of a predefined unit of measurement (e.g., "delta"), and where the section "base64: !! binary |<BASE64 ENCODING> “the spectrum information IE-4g according to Fig. 2, for example, characterizing a tensor, for example in a Base64 encoding.

[0109] In some other examples, the information is "data: <data_information> " characterizable by at least the fourth information element IE-4 ( Fig. 2) or at least some of its components IE-4a, IE-4b, ..., illustrated below by an example of "Variant 3", i.e., sensor data of type "points" or "(annotated) point cloud": data: radar_front_right: -timestamp: 13 number: 6 base64: ! ! binary |<BASE64 ENCODING> , where the section “timestamp: 13”, for example, contains a first set of timestamp information according to IE-4a. Fig. 2 characterized, where the section “number: 6” for example represents the number information IE-4c according to Fig. 2 characterized, and where the section “base64: ! ! binary |<BASE64 ENCODING> ,“ for example, the dot matrix information associated with the number of points IE-4d, for example in a Base64 encoding, is characterized.

[0110] In some examples, the principle according to the disclosure is usable for at least one of the following applications: “Perception”, for example “perception”, radar fusion, fusion of radar data with vision data, fusion of radar data with information, for example object lists, according to CPM (Collective Perception Message) messages, simple data exchange between different facilities 10, 10a, 20.

[0111] In some examples, the principle, as disclosed, can be used for exchanging, e.g., transmitting (e.g., sending and / or receiving) data from one or more radar sensors, for example, in a V2X (Vehicle-to-Everything) system. In other examples, particularly efficient processing, such as fusion, is possible, which enables data processing, among other things, by providing a spatiotemporal reference or origin, for example, through position information and associated time information.

[0112] In some examples, the principle according to the disclosure can be used to increase flexibility in processing data from one or more radar sensors by making the data flexibly transferable, for example, optionally, in different formats or variants, e.g., spectrum, sparse spectrum, points, with the "sparse spectrum" variant being particularly data-efficient. Furthermore, in some examples, the principle according to the disclosure makes it possible to provide individual information or annotations, e.g., for points, e.g., in a point cloud.

[0113] Further examples, Fig. 10, refer to a use 300 of the method according to the disclosure and / or the device 200, 200a, 200b according to the disclosure and / or the vehicle 10, 10a according to the disclosure and / or the infrastructure facility 20 according to the disclosure and / or the communication system 1 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 and / or the data structure DS according to the disclosure for at least one of the following elements: a) connecting 301 mobile radar devices 12, 12a, for example in the sense of connected radar, or b) improving 302 an object detection and / or instance detection, or c) improving 303 motion models, or d) improving 304 a collision detection, or e) connecting 305 mobile radar devices 12, 12a, which are located, for example, in the same environment UM ( Fig.3) are located, or f) increase safety, for example in road traffic.

Claims

[1] A method, for example a computer-implemented method, for processing data associated with at least one mobile radar device (12), for example for a vehicle, for example a motor vehicle, (10) comprising: providing (100) first information (I-1) associated with the at least one radar device (12), organizing (102) the first information (I-1) in a data structure (DS), wherein the data structure (DS) comprises at least the following elements: a) a first information element (IE-1) characterizing a reference system (REF-SYS), for example for a spatial reference, b) a second information element (IE-2) characterizing first sensor information (I-SENS-1) of at least one radar sensor (12a) of the at least one radar device (12), optionally c) a third information element (IE-3) characterizing motion information (I-MOV), optionally d) a fourth information element (IE-4) characterizing second sensor information (I-SENS-2) of the at least one radar sensor (12a) of the at least one radar device (12). [2] Method according to claim 1, wherein the provision (100) comprises at least one of the following elements: a) receiving (100a) the first information (I-1), for example from the at least one radar device (12), or b) determining (100b) the first information (I-1), for example locally in a device (200) configured to carry out aspects of the method according to at least claim 1. [3] Method according to at least one of the preceding claims, comprising: sending (104) the first information (I-1), for example in the form of the data structure (DS), to at least one further device (10a, 20, 200a, 200b). [4] Method according to at least one of the preceding claims, wherein the first information element (IE-1) comprises at least one of the following elements: a) position information (IE-1a), for example characterizing a reference position, for example an origin, for example characterizable and / or characterized by at least one of: a1) a longitude coordinate, for example geographic, or a2) a latitude coordinate, for example geographic, or a3) an altitude coordinate, wherein, for example, at least one of the elements a1), a2), a3) is provided with at least one statistical parameter (SP), for example a standard deviation, or b) information (IE-1b) characterizing a reference coordinate system, for example characterizable by a 3-tuple or a vector, or c) time information (IE-1c),for example, characterized by a first time information element (T1), for example according to a UTC time format, and, optionally, by a second time information element (T2), which, for example, specifies a multiple of a nanosecond, for example as an offset with respect to the first time information element (T1). [5] Method according to at least one of the preceding claims, wherein the second information element (IE-2), for example for the at least one radar sensor (12a), for example for several, for example all, radar sensors (12a, 12b) each, comprises at least one of the following elements: a) sensor position information (IE-2a) characterizing a position, for example origin coordinate, of the at least one radar sensor (12a, 12b), or b) variant information (IE-2b) characterizing a variant (VAR) of the at least one radar sensor (12a), or c) a descriptive information element (IE-2c). [6] Method according to claim 5, wherein possible variants of the at least one radar sensor (12a) are: a) spectrum, for example full spectrum, or b) spots, or c) sparse spectrum. [7] Method according to at least one of the preceding claims, wherein the optional third information element (IE-3) comprises at least one of the following elements: a) velocity information (IE-3a), or b) acceleration information (IE-3a), and optionally at least one statistical parameter (SP'), for example a standard deviation, for the velocity information (IE-3a) and / or the acceleration information (IE-3a). [8] Method according to at least one of the preceding claims, wherein the optional fourth information element (IE-4) in the case of a variant of the at least one radar sensor (12a) of type “spectrum” comprises at least one of the following elements: a) timestamp information (IE-4a), for example characterizing a time offset, for example in nanoseconds, or b) spectrum information (IE-4b), for example characterizing a tensor, for example in a Base64 encoding, wherein, for example, the optional fourth information element (IE-4) in the case of the variant of the at least one radar sensor (12a) of type “spectrum” comprises a plurality of timestamp information (IE-4a) and spectrum information (IE-4b) associated with the timestamp information (IE-4a). [9] Method according to at least one of the preceding claims, wherein the optional fourth information element (IE-4) in the case of a variant of the at least one radar sensor (12a) of type “points” comprises at least one of the following elements: a) timestamp information (IE-4a), for example characterizing a time offset, for example in nanoseconds, or b) count information (IE-4c) characterizing a number of points, or c) dot matrix information (IE-4d) associated with the number of points, for example in a Base64 encoding. [10] Method according to at least one of the preceding claims, wherein the optional fourth information element (IE-4) in the case of a variant of the at least one radar sensor (12a) of the “sparse spectrum” type comprises at least one of the following elements: a) timestamp information (IE-4a), for example characterizing a temporal offset, for example in nanoseconds, or b) center information (IE-4e) characterizing a center of a respective spectrum area (SA1, SA2), or c) size information (IE-4f) characterizing an extent of a respective spectrum area (SA1, SA2), for example as an integer multiple of a predefinable size unit, or d) spectrum information (IE-4g) of a respective spectrum area (SA1, SA2), for example characterizing a tensor, for example in a Base64 encoding. [11] Method according to at least one of the preceding claims, comprising: receiving (110) second information (I-2) associated with at least one mobile radar device (12') or at least one further device, for example, a further vehicle (10a), wherein, for example, the second information (I-2) is organized in a format corresponding to the data structure (DS), and, optionally, fusing (112) the first information (I-1) with the second information (I-2). [12] Method according to at least one of the preceding claims, comprising at least one of the following elements: a) using (102a; 120) a text-based data format, for example a file format, (DF) for data serialization, for example for organizing (102), or b) fusing (122) the first information (I-1) with information (I-2; I-3) of at least one further radar device (12'; 22), wherein, for example, the information to be fused (I-1, I-2, I-3) is associated with the same variant (VAR) of the at least one radar device (12'; 22), or c) converting (124) aspects of the optional fourth information element (IE-4), for example from a first data format (DF1) associated with a first variant (VAR1) of a first radar sensor to a second data format (DF2) associated with a second variant (VAR2) of a second radar sensor. [13] A method, for example a computer-implemented method, for processing data associated with at least one mobile radar device (12), for example for a vehicle, for example a motor vehicle, (10), comprising: receiving (150) first information (I-1) associated with the at least one radar device (12), wherein the first information (I-1) is organized in a data structure (DS), the data structure (DS) comprising at least the following elements: a) a first information element (IE-1) characterizing a reference system (REF-SYS), for example for a spatial reference, b) a second information element (IE-2) characterizing first sensor information (I-SENS-1) of at least one radar sensor (12a) of the at least one radar device (12), optionally c) a third information element (IE-3) characterizing motion information (I-MOV),optionally d) a fourth information element (IE-4) characterizing second sensor information (I-SENS-2) of the at least one radar sensor (12a) of the at least one radar device (12), and, optionally, processing (152) at least some part of the first information (I-1), for example fusing (152a) at least some part of the first information (I-1) with further information (I-2'). [14] Device (200; 200a; 200b) for processing data associated with at least one, for example mobile, radar device (12; 12'; 22), for example for a vehicle, for example motor vehicle, (10), wherein the device (200; 200a; 200b) is configured to carry out the method according to at least one of the preceding claims. [15] Vehicle (10; 10a) comprising at least one device (200; 200a) according to claim 14. [16] Infrastructure facility, for example roadside unit, (20) comprising at least one device (200; 200b) according to claim 14. [17] System, for example communication system, (1) comprising at least one device (200; 200a; 200b) according to claim 14 and / or at least one vehicle (10; 10a) according to claim 15 and / or at least one infrastructure facility (20) according to claim 16. [18] 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 13. [19] 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 13. [20] Data carrier signal (DCS) that transmits and / or characterizes the computer program (PRG) according to claim 19. [21] Data structure (DS), for example a computer-implemented data structure, for processing data associated with at least one mobile radar device (12), for example for a vehicle, for example a motor vehicle, (10) for organizing (102) first information (I-1) associated with the at least one radar device (12), wherein the data structure (DS) comprises at least the following elements: a) a first information element (IE-1) characterizing a reference system (REF-SYS), for example for a spatial reference, b) a second information element (IE-2) characterizing first sensor information (I-SENS-1) of at least one radar sensor (12a) of the at least one radar device (12), optionally c) a third information element (IE-3) characterizing motion information (I-MOV),optional d) a fourth information element (IE-4) characterizing second sensor information (I-SENS-2) of the at least one radar sensor (12a) of the at least one radar device (12)., [22] Use (300) of the method according to at least one of claims 1 to 13 and / or the device (200) according to claim 14 and / or the vehicle (10) according to claim 15 and / or the infrastructure facility (20) according to claim 16 and / or the communication system (1) according to claim 17 and / or the computer-readable storage medium (SM) according to claim 18 and / or the computer program (PRG) according to claim 19 and / or the data carrier signal (DCS) according to claim 20 and / or the data structure (DS) according to claim 21 for at least one of the following elements: a) connecting (301) mobile radar devices (12, 12'), for example in the sense of connected radar, or b) improving (302) object detection and / or instance detection, or c) improving (303) motion models, or d) improving (304) collision detection, or e) connecting (305) of mobile radar equipment (12, 12'), or f) increasing (306) safety, for example in road traffic.

Images