Method and equipment for processing data associated with a radar device

Abstract

A method for processing data associated with a radar device (RD) for a mobile unit (MU), e.g., a vehicle (VEH), and / or for an infrastructure unit (IU), e.g., a road infrastructure unit, e.g., a roadside unit (RSU), wherein the method comprises: determining the presence of a management node (MN) for controlling media access related to radar signal transmissions and, based on the determination, controlling the operation of the radar device (RD).

Description

Technical field

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

[0002] The disclosure further relates to a device for processing data associated with a radar device. Summary

[0003] Some examples relate to a method, such as a computer-implemented method, for processing data associated with a radar device for a mobile unit, e.g., a vehicle, and / or for an infrastructure unit, e.g., a road infrastructure unit, such as a roadside unit, wherein the method includes: determining the presence of a management node for controlling media access related to radar signal transmissions and, based on this determination, controlling the operation of the radar device. In some examples, this may allow for flexible adaptation of the radar device's operation, e.g., to changing conditions in the radar device's environment, such as the presence or absence of the management node.The method can be understood as a method, in particular for operating or controlling a radar device, which is carried out by a device contained in the radar device.

[0004] In some examples, controlling media access may involve assigning and / or allocating resources in connection with radar signal transmission and / or reception operations.

[0005] In some examples, the radar device may be designed to perform detection, e.g., by performing at least one of the following actions: a) transmitting detection signals, e.g., radar signals for detection, or b) receiving at least some of the detection signals, which may interact with one or more objects in the vicinity of the radar device (e.g., by scattering and / or reflection).

[0006] In some examples, controlling media access in connection with radar signals may include at least one of the following steps: a) controlling media access in connection with radar signal transmission operations, or b) controlling media access in connection with radar signal reception operations, or c) controlling media access in connection with radar signal transmission and reception operations.

[0007] In some examples, the radar device may be configured for wireless communication with at least one other device, e.g., at least one other radar device, e.g., in accordance with or based on at least one planned or accepted standard such as 4G or 5G or 6G, or another planned or accepted standard, e.g., using a wireless, for example, cellular communication system, for example, of type 5G or 6G or based on 5G or 6G, or the like.

[0008] In some examples, data exchange between the radar device and at least one other device can be carried out, at least temporarily, via a network device, e.g., a base station, e.g., gNB, of the wireless communication system.

[0009] In some examples, data exchange between the radar device and at least one other device can be carried out, at least temporarily, via direct device-to-device communication, e.g., using a sidelink interface. In some examples, this enables device-to-device communication even in the absence of network coverage.

[0010] In some examples, the radar device may be designed to exchange information with one or more other devices, such as one or more other radar devices, via a wireless, for example cellular, communication system, such as 5G or 6G or based on 5G or 6G or the like, e.g. to coordinate the operation of the radar devices, e.g. with regard to detection.

[0011] In some examples, the radar device may be designed to perform at least one radar procedure, for example for detection, using signals from the wireless, for example cellular, communication system, for example of type 5G or 6G or based on 5G or 6G or the like.

[0012] In some examples, the radar device may, at least temporarily, use signals from a wireless communication system, such as reference signals from a wireless communication system according to any planned or accepted standard, to perform the detection.

[0013] In some examples, however, the radar device may, at least temporarily, use specific radar signals to perform the detection, such as signals other than those of a wireless communication system. In some examples, FMCW signals may be used for detection by the radar device. In some examples, controlling media access related to radar signals may include controlling media access related to radar signals for detection using FMCW signals.

[0014] In some examples, the radar device may be designed to perform integrated communications and sensing (ICAS). In some examples, the same transmitter and / or receiver, e.g., a transceiver set, may be used for both communications and sensing, e.g., for ICAS.

[0015] In some examples, determining includes at least one of the following steps: a) determining that the management node is present, e.g., in the vicinity of the radar device, or b) determining that the management node is not present, e.g., in the vicinity of the radar device.

[0016] In some examples, the procedure involves monitoring a communication channel to determine whether a signal, such as an announcement message, from the management node (e.g., a management node that may be located in the vicinity of the radar device) can be received via the communication channel. In other words, in some examples, a signal provided by the management node, e.g., transmitted, can characterize or represent the announcement message.

[0017] In some examples, the communication channel may be a predefined communication channel provided for transmitting announcement messages. In some examples, the predefined communication channel may be provided through a) standardization and / or b) configuration.

[0018] In some examples, announcement messages can be used by at least one management node to notify, for example, one or more radar devices in an environment, such as a coverage area, of the management node's presence. In some examples, the content of announcement messages can be determined by a) standardization and / or b) configuration. Further details regarding announcement messages according to some examples are explained below.

[0019] In some examples, the method includes: assuming the role of the management node to control media access related to radar signal transmissions when the determination shows that the management node is not present, e.g., no management node is present in the vicinity, such as of the radar device; sending, for example, repeated or periodic transmissions, announcement messages, e.g., to notify at least one other device of the presence of a management node. In some examples, this allows for the flexible provision of a management node, e.g., for the allocation of resources related to radar signal transmissions, e.g., without providing a static and / or stationary management node. Rather, using the principle according to the disclosure, in some examples a radar device can assume the role of the management node, at least temporarily, e.g.,if required, e.g. if no (other) management node is (e.g. already) present in the environment.

[0020] In some examples, the announcement message includes: a) the position of the radar device or a unit associated with the radar device, and / or b) the speed of the radar device or a unit associated with the radar device, and / or c) the orientation of the radar device or a unit associated with the radar device, and / or d) the coverage area of ​​the radar device. In some examples, additional information may optionally be included in the announcement message.

[0021] In some examples, the procedure includes: receiving one or more requests from radar equipment, e.g., from one or more other radar devices, and processing the one or more requests. Thus, in some examples, the radar device, which may temporarily act as a management node, can manage the radar equipment, e.g., based on the received requests.

[0022] In some examples, processing the one or more requirements includes at least one of the following steps: a) assigning radar signal transmission (and / or reception) resources based on the one or more requirements to a1) the radar device and / or a2) the one or more additional radar devices, or b) sending information characterizing assigned radar signal transmission (and / or reception) resources, e.g., to at least one of the one or more additional radar devices, wherein, for example, A) the assignment and / or B) the sending AA) is performed repeatedly, e.g., periodically, and / or BB) is performed on an event-based basis.

[0023] In some examples, the procedure includes: when the determination shows that the management node exists, sending, for example, repeated sending, for example, periodic sending, a request for radar equipment to the management node; receiving information characterizing radar signal transmission equipment assigned to the radar device, wherein the request includes, for example, at least one of the following elements: a) a position of the radar device or of a unit associated with the radar device; b) a speed of the radar device or of a unit associated with the radar device; c) a heading or course of the radar device or of a unit associated with the radar device; d) a number of radar sensors of the radar device; or e) information characterizing a radar type, e.g.,at least one type of e1) short-range radar or e2) medium-range radar or e3) long-range radar, or f) information characterizing at least one radar capability, such as f1) ramp bandwidth and / or f2) hardware capability, or g) information characterizing interference, e.g., currently occurring interference, e.g., from other, e.g., neighboring, radar devices, which, e.g., g1) characterize a frequency band associated with the interference and / or g2) characterize an interference pattern.

[0024] In some examples, the procedure includes: using equipment for: a) radar signal transmission operations, e.g. for detection, or b) radar signal reception operations, e.g. for detection.

[0025] In some examples, the procedure includes: determining, e.g., repeatedly determining, e.g., periodically, e.g., after a predetermined threshold time has elapsed, whether the radar device has the role of the management node, and, based on the determination, controlling an operation of the radar device, wherein, for example, if the determination shows that the radar device has the role of the management node, the procedure includes performing at least one of the following aspects: A) Receiving one or more requests from radar equipment, e.g.,from one or more other radar devices, or B) processing the one or more requirements, wherein, for example, if the determination shows that the radar device does not have the role of a management node, the method includes performing at least one of the following: C) determining the presence of a management node for controlling media access in connection with radar signal transmissions, or D) on the basis of the determination, controlling an operation of the radar device.

[0026] In some examples, the procedure includes: determining whether to receive an announcement message from another management node, and then, if an announcement message from another management node is received, following merge rules that control whether the radar device or the other management node should assume the management node role, and optionally, if the merge rules indicate that the radar device should assume the management node role, receiving one or more requests for radar resources from one or more other radar devices, and optionally, if the merge rules indicate that the radar device should not assume the management node role, sending information characterizing currently allocated resources to the other management node.

[0027] Some examples relate to a device for processing data associated with a radar device for a mobile unit, e.g., a vehicle, and / or for an infrastructure unit, e.g., a road infrastructure unit, e.g., a roadside unit, wherein the device is designed to perform at least one aspect according to the disclosure.

[0028] Some examples relate to a radar device for a mobile unit, e.g. a vehicle, and / or for an infrastructure unit, e.g. a road infrastructure unit, e.g. a roadside unit comprising at least one device as disclosed.

[0029] Some examples relate to a communication system comprising at least one of the following elements: a) a device as disclosed, or b) a radar device as disclosed. In some examples, the communication system is of type 5G or 6G, or is based on 5G or 6G, or the like.

[0030] Some examples relate to a computer program that includes instructions which, when the program is executed by a computer, cause the computer to perform the procedure according to the disclosure.

[0031] Some examples relate to a computer-readable storage medium containing instructions which, when executed by a computer, cause the computer to perform the procedure according to the disclosure.

[0032] Some examples refer to a data carrier signal that carries and / or characterizes the computer program according to the disclosure.

[0033] 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 communication system according to the disclosure and / or the computer program according to the disclosure and / or the computer-readable storage medium according to the disclosure and / or the data carrier signal according to the disclosure for: a) a reduction of radar interference and / or b) a coordination of the operation of multiple radar devices and / or c) a realization of centralized resource allocation for multiple radar devices and / or d) a dynamic determination of a resource allocation management node or e) an avoidance of providing a dedicated resource allocation node. Brief description of the drawings

[0034] Some exemplary embodiments are now described with reference to the accompanying drawings; they show: Fig. 1. A simplified flowchart (schematical); Fig. 2. A simplified block diagram (schematically). Fig. 3. A simplified flowchart schematically; Fig. 4. A simplified block diagram (schematically). Fig. 5. A simplified flowchart schematically; Fig. 6. A simplified flowchart is shown schematically; Fig. 7. A simplified block diagram schematically; Fig. 8. A simplified flowchart is shown schematically; Fig. 9. A simplified flowchart is shown schematically; Fig. 10. A simplified block diagram schematically; Fig. 11 schematically a simplified block diagram; Fig. 12. A simplified flowchart; and Fig. 13 schematic examples of usage aspects.

[0035] Some examples, see for example Fig. 1, Fig. 2, refer to a method, for example a computer-implemented method, for processing data associated with a radar device RD for a mobile unit MU, e.g. a vehicle VEH, and / or for an infrastructure unit IU, e.g. a road infrastructure unit, e.g. a roadside unit RSU, wherein the method comprises: Determining 100 ( Fig. 1) the presence of a management node MN (MN-PRESENCE) for controlling media access in connection with radar signal transmissions and, based on provision 100, controlling an operation RD-OP of the radar device RD (102). In some examples, this may allow flexible adaptation of an operation of the radar device RD, e.g., to changing conditions in the environment ENV of the radar device RD, such as the presence or absence of the management node MN.

[0036] It should be noted that in the present example of Fig. 2. The radar device RD is assigned to the mobile unit MU, e.g., the vehicle VEH. In some examples, however, the radar device RD may also be assigned to or provided for the infrastructure unit IU, e.g., the roadside unit RSU. Therefore, the following explanations apply to all variants of radar devices, regardless of whether they are assigned to a mobile unit MU or an infrastructure unit IU.

[0037] In some examples, Fig. 2. The radar device RD may be designed to perform a detection SENS, e.g. by performing at least one of the following steps: a) transmit detection signals, e.g. radar signals for detection, or b) receive at least some of the detection signals that may interact with, e.g., one or more objects (not shown) in the environment ENV of the radar device RD.

[0038] Thus, in some examples, controlling media access in connection with radar signals may include at least one of the following steps: a) controlling media access in connection with radar signal transmissions or b) controlling media access in connection with radar signal reception operations.

[0039] In some examples, Fig. 2. The radar device RD may be designed for wireless communication with at least one other device, e.g., at least one other radar device RD', e.g., in accordance with or based on at least one planned or accepted standard, such as 4G or 5G or 6G, or any other planned or accepted standard.

[0040] In some examples, Fig. 2. The radar device RD can be designed to perform integrated communications and detection (ICAS). In some examples, the same transmitter and / or receiver, e.g., a transceiver, can be used for both communications and detection.

[0041] In some examples, Fig. 1, determining 100 includes at least one of the following steps: a) Determining 100a that the management node MN ( Fig. 2) is present, e.g. in the ENV environment of the radar device RD, or b) Determine 100b that the management node MN is not present, e.g. in the ENV environment of the radar device RD.

[0042] In some examples, Fig. 1, the procedure includes listening 100c to a communication channel, determining 100d whether a signal, e.g. an announcement message MN-AM, from the management node MN (e.g. a management node which may be located in the vicinity of the radar device) can be received via the communication channel.

[0043] In some examples, the communication channel may be a predefined communication channel provided for transmitting announcement messages (MN-AM). In some examples, the predefined communication channel may be provided through a) standardization and / or b) configuration.

[0044] In some examples, Fig. 2. MN-AM announcement messages can be used by management node MN to notify one or more radar devices RD, RD' in an environment ENV, e.g., a coverage area, of the presence of the management node MN. In some examples, the content of MN-AM announcement messages can be determined by a) standardization and / or b) configuration. Further details regarding announcement messages according to some examples are explained below.

[0045] In some examples, Fig. 3, the procedure includes: when the provision 100 ( Fig. 1) indicates that the management node MN is not present, e.g., no management node is present in the vicinity, e.g., of the radar device, assuming the role MN-ROLE of the management node MN to control media access in connection with radar signal transmissions, sending 112, for example, repeated sending 112a, for example, periodic sending 112b, of announcement messages MN-AM', e.g., to at least one other device, e.g., another radar device RD', ( Fig. 2) to notify about the presence of a management node. In some examples, this allows for the flexible provisioning of a management node, e.g., for the allocation of resources related to radar signal transmissions, without the need for a static and / or stationary management node (not shown). Rather, using the principle according to the disclosure, in some examples a radar device RD can at least temporarily assume the role of the management node MN, e.g., when necessary, e.g., when no (other) management node is (e.g., already) present in the environment ENV.

[0046] In some examples, the aspect of taking over can be part of the control aspect of 102. Fig. Be 1.

[0047] In some examples, Fig. 4. The announcement message MN-AM' includes at least one of the following elements: a) a position POS of the radar device RD or of a unit MO, IU assigned to the radar device RD, or b) a speed VEL of the radar device RD or of a unit MU, IU assigned to the radar device RD, or c) an orientation ORIENT of the radar device RD or of a unit MU, IU assigned to the radar device RD, d) a coverage area COV of the radar device RD. In some examples, additional information may optionally be included in the announcement message.

[0048] In some examples, Fig. 5, the procedure comprises: Receiving 120 one or more REQ-RAD-RES requests from radar equipment, e.g. from one or more other radar devices RD', Processing 122 the one or more REQ-RAD-RES requests. Thus, in some examples, the radar device RD ( Fig. 2) which can temporarily act as a management node to manage radar resources, e.g. at least on the basis of the received REQ-RAD-RES requests.

[0049] In some examples, receiving 120 can be performed after assuming the role of the management node, but is not limited to this. In other words, the radar device RD can also perform the aspect of receiving 120 of one or more requirements REQ-RAD-RES from radar equipment in other situations, e.g., even if it does not currently have the role of the management node MN (or has not yet assumed it).

[0050] In some examples, Fig. 5, processing 122 of one or more requirements comprises at least one of the following steps: a) assigning 122a resources for radar signal transmission (and / or reception) operations based on the one or more requirements REQ-RAD-RES to at least one of the following devices: a1) the radar device RD (e.g., the radar device RD itself, which currently has the role of the management node) or a2) the one or more other radar devices RD', or b) transmitting 122b information INF-RES-ASSIG characterizing assigned resources for radar signal transmission (and / or reception), e.g., to at least one of the one or more other radar devices RD', wherein, for example, A) the assignment 122a and / or B) the transmission 122b AA) is performed repeatedly, e.g., periodically, and / or B) is performed event-based.

[0051] The optional block 124 in Fig. 5 symbolizes the use of the RES-RD resources ( Fig. 2), as they are allocated, for example, in Block 122a. In other words, in some examples, the radar device RD, which at least temporarily has the MN-ROLE of the management node, can allocate resources for its own use, e.g., radar resources for SENS detection, and can, for example, in Block 124, use the resources so allocated to perform SENS detection.

[0052] In some examples, Fig. 6, the procedure includes: when the provision 100 ( Fig. 1) shows that the management node MN ( Fig. 2) is present, transmitting 130, for example repeated transmitting 130a, for example periodic transmitting 130b, of a request REQ-RAD-RES' from radar equipment to the management node MN, receiving 132, e.g. in response to the request REQ-RAD-RES', of information INF-RES-ASSIG, which characterizes equipment for radar signal transmission operations (and / or reception operations) assigned to the radar device RD (e.g. by the management node MN).

[0053] The optional block 134 in Fig. 6 symbolizes the use of the resources RES-RD, as assigned, for example, by the management node MN of the radar device RD, e.g., in response to the request REQ-RAD-RES'.

[0054] In other words, in some examples, although it does not assume the MN-ROLE role of the management node, the radar device RD may request radar resources for its own use, e.g. radar resources for SENS detection (see Block 130), and may, e.g. in Block 134, use the resources so allocated to perform SENS detection.

[0055] In some examples, Fig. 7, the requirement REQ-RAD-RES' includes at least one of the following elements: a) a position POS of the radar device RD or of a unit MU, IU associated with the radar device RD; or b) a speed VEL of the radar device RD or of a unit MU, IU associated with the radar device RD; or c) an orientation ORIENT or a heading of the radar device RD or of a unit MU, IU associated with the radar device RD; d) a number NUM of radar sensors of the radar device RD; or e) information INF-RC characterizing a radar type or class, e.g., at least one type under e1) short-range radar, or e2) medium-range radar, or e3) long-range radar; or f) information INF-CAP characterizing at least one radar capability, e.g., f1) ramp bandwidth and / or f2) hardware capability; or g) information INF-INTERF characterizing interference. B. currently occurring interference, e.g. from others, e.g.neighboring radar devices RD', characterize which g1) characterize a frequency band associated with interference or g2) characterize an interference pattern. In some examples, the requirement REQ-RAD-RES' may also include further information not explicitly listed above. In some examples, see for instance at least one of blocks 124, 134, the procedure includes: using equipment for a) radar signal transmission operations, e.g., for detection, and / or b) radar signal reception operations, e.g., for detection.

[0056] In some examples, Fig. 8, the procedure comprises: Determining 140, e.g., repeatedly determining 140a, e.g., periodically, e.g., after a predetermined threshold time; determining 140b, whether the radar device RD has the role MN-ROLE of the management node MN; and, based on determining 140, controlling 142 an operation RD-OP of the radar device RD, wherein, for example, if determining 140 shows that the radar device RD has the role of the management node, the procedure includes performing 144 at least one of the aspects A) Receiving (see also, for example, block 120 in Fig. 5) one or more requirements of radar equipment, for example from one or more further radar devices RD', or B) processing (see also, for example, Block 122 in Fig. 5) comprising one or more requirements, wherein, for example, if the determination 140 reveals that the radar device RD does not have the role of the management node, the procedure includes an execution 146 comprising at least one of the following aspects: C) Determining (see also, for example, block 100 in Fig. 1) the existence of a management node for controlling media access in connection with radar signal transmissions, or D) based on determining, controlling (see also, for example, Block 102 in Fig. 1) of operating the radar device.

[0057] In some examples, Fig. 9, the procedure includes: Determining 150 whether an announcement message MN-AM from another management node MN is received, and then, if an announcement message MN-AM from another management node MN is received, following 152 rules, e.g., merging rules MR, which control whether the radar device RD or the other management node MN should have (e.g., retain) the management node role MN-ROLE.

[0058] In some examples, Fig. 9, the procedure includes, if the merging rules MR show that the radar device RD should have the role of the management node, receiving 154 one or more requests REQ-RAD-RES of radar equipment from one or more other radar devices RD'.

[0059] In some examples, Fig. 9. The procedure then includes, if the merge rules MR determine that the radar device RD should not have the management node role, sending 156 pieces of information INF-CUR-ASSIG-RES, characterizing currently allocated resources, to the other management node MN. In other words, in some examples, the information INF-CUR-ASSIG-RES can characterize radar resources allocated by the radar device RD in its management node role, e.g., based on one or more requests REQ-RAD-RES from at least one other radar device RD, and the future management node MN can be notified of these already allocated resources using the information INF-CUR-ASSIG-RES, e.g., to ensure a smooth transition to a state with a single management node MN, e.g., one other than the radar device RD.

[0060] Some examples, Fig. 10, refer to a device 200 for processing data from a radar device RD ( Fig. 2) are assigned to a mobile unit MU, e.g. a vehicle VEH, and / or to an infrastructure unit IU, e.g. a road infrastructure unit, e.g. a roadside unit RSU, wherein the facility 200 is designed to perform at least one aspect according to the disclosure.

[0061] In some examples, the configuration 200 of Fig. 10 e.g. for the mobile unit MU and / or its radar device RD, see also block 200a of Fig. 2. In some examples, the configuration 200 of Fig. 10 can be used, for example, for the infrastructure unit IU; see also block 200b of Fig. 2.

[0062] In some examples, Fig. 10, the device 200 comprises at least one computing unit, e.g. a processor, 202 and at least one storage unit 204, which is assigned to (i.e. usable by) the at least one computing unit 202, for at least temporarily storing a computer program PRG and / or data DAT, wherein the computer program PRG is designed, for example, to control at least temporarily an operation of the radar device RD, e.g. with regard to the execution of a method according to the disclosure.

[0063] In some examples, Fig. 10, comprising at least one computing unit 202, comprising at least one kernel 202a for executing the computer program PRG or at least parts thereof, e.g., for executing the method according to the disclosure or at least one or more steps thereof.

[0064] In some examples, the at least one computing unit 202 can comprise at least one of the following elements: a microprocessor, a microcontroller, a digital signal processor (DSP), a programmable logic element (e.g., an FPGA, field-programmable gate array), an ASIC (application-specific integrated circuit), a hardware circuit arrangement, a tensor processor, or a graphics processing unit (GPU). According to further examples, any combination of two or more of these elements is also possible.

[0065] In some examples, the memory unit 204 includes at least one of the following elements: a) a volatile memory 204a, e.g., a random access memory (RAM), or b) a non-volatile memory 204b, e.g., a flash EEPROM.

[0066] In some examples, the computer program PRG is stored, at least temporarily, in non-volatile memory 204b. Data DAT (e.g., of the determination 100 ( Fig. 1) or the control 102 ( Fig. 1) assigned), which can be used, for example, to carry out the procedure according to the disclosure, can be stored at least temporarily in the RAM 204a.

[0067] In some examples, an optional computer-readable storage medium (SM) containing instructions, such as the computer program PRG, may be provided. For example, the storage medium (SM) may include or represent a digital storage medium such as a semiconductor storage device (e.g., a solid-state drive, SSD) and / or a magnetic storage medium such as a disk or hard disk drive (HDD) and / or an optical storage medium such as a compact disc (CD) or DVD (digital versatile disc), or the like.

[0068] In some examples, configuration 200 may include an optional data interface 206, e.g., for bidirectional data exchange with an external device (not shown), e.g., for exchanging a data carrier signal DCS.

[0069] In some examples, the data carrier signal DCS can represent and / or carry the computer program PRG according to the disclosure, or at least a part thereof.

[0070] Some examples, Fig. 2, refer to a radar device RD for a mobile unit MU, e.g. a vehicle VEH, and / or for an infrastructure unit IU, e.g. a road infrastructure unit, e.g. a roadside unit, RSU, comprising at least one device 200, 200a, 200b as disclosed.

[0071] Some examples, Fig. 2, refer to a communication system 1000 comprising a) a device 200, 200a, 200b according to the disclosure and / or b) a radar device RD according to the disclosure.

[0072] The following reveals further aspects and examples, which in some examples can be combined with one or more of the aspects and / or examples explained above.

[0073] Fig. Figure 11 schematically shows a simplified block diagram illustrating some examples of the disclosure in four different operating states ST1, ST2, ST3, ST4 along a vertical time axis t. A first vehicle VEH-1 includes a radar device RD according to the disclosure (not in Fig. 11 shown, see for example element RD in Fig. 2) wherein the radar device of the first vehicle VEH-1 currently acts as a management node for controlling media access in connection with radar signal transmissions, e.g. by one or more radar devices of the in Fig. 11 vehicles shown.

[0074] In a first example state ST1, the radar device RD of the first vehicle VEH-1 sends an announcement message “Adv.” (e.g. at least similar to Block 112 of Fig. 3), for example to notify other radar devices of the other vehicles VEH-2, ... of their presence.

[0075] In a second example state ST2, the radar device of the second vehicle VEH-2 receives the announcement message “Adv.” and is thus notified of the presence of the management node in the form of the radar device of the first vehicle VEH-1 and sends a request “Req.” for radar resources (e.g. at least similar to Block 130 in Fig. 6) to the radar device of the first vehicle VEH-1, e.g. its radar device, e.g. the current management node.

[0076] In a third example state ST3, the management node, e.g., the radar device of the first vehicle VEH-1, responds to the request “Req.” from the radar device of the second vehicle with a response “Resp.”, which specifies, e.g., the radar resources assigned to the radar device of the second vehicle VEH-2 (e.g., at least similar to Block 132 in Fig. 6), e.g. for detection by means of the radar device of the second vehicle VEH-2.

[0077] In a fourth example state ST4, the radar device of the second vehicle VEH-2 confirms receipt of the response “Resp.”, e.g. by sending a corresponding confirmation “Ack.” to the management node.

[0078] In some examples, for each of the aspects relating to Fig. 11 explained example states ST1, ST2, ST3, ST4 at least one of which relates to Fig. 1 to Fig. The 10 explained aspects will be used.

[0079] It should be noted that, according to the disclosure, the principle allows for the dynamic assignment of the management node role to, for example, any radar device RD as described in the disclosure. Therefore, for example, the radar device (not shown) of a vehicle other than VEH-1 or VEH-2 can also assume the role of the management node, at least temporarily.

[0080] Fig. Figure 12 schematically shows a simplified flowchart illustrating some examples from the Revelation.

[0081] An element e1 symbolizes that a radar device RD ( Fig. 2) which may be assigned to, for example, a mobile unit MU or an infrastructure unit IU, and may be provided for this purpose, e.g., to monitor a communication channel, e.g., to determine whether a management node MN ( Fig. 2) is present in the environment ENV. In some examples, the radar device RD can determine, by performing the listening e1, whether at least one announcement message MN-AM can be received or is being received from a management node MN, e.g. via the communication channel.

[0082] An element e2 symbolizes a determination, based on the listening e1, of whether at least one announcement message MN-AM is received from a management node MN.

[0083] If not, e.g., if determination e2 shows that no announcement message MN-AM is received, the procedure in some examples continues with an element e3, which symbolizes that the radar device RD ( Fig. 2) at least temporarily assumes the role of the management node MN or “Masters”.

[0084] An element e4 symbolizes a repeated, e.g. periodic sending of an announcement message MN-AM by the radar device RD, which now at least temporarily acts as a management node MN, in order to notify, e.g., at least one other radar device RD' (e.g., "client") of its presence and thus, e.g., of the possibility of providing resource allocations, e.g., for radar resources, e.g., for detection, e.g., by the at least one other radar device RD', e.g., to the one or more clients.

[0085] An element e5 symbolizes that the radar device RD meets at least one requirement (e.g., at least similar to the element REQ-RAD-RES of Fig. 2) receives and processes from at least one further radar device RD', which includes, for example, a resource allocation for the radar device RD itself and / or for the at least one further radar device RD', e.g., based on the at least one request. In some examples, the resource allocation for the at least one further radar device RD' may also include sending corresponding information about the resource allocation to the at least one further radar device RD', e.g., at least similar to Block 122b of Fig. 5.

[0086] An element e6 symbolizes the use of the assigned resources, e.g., by the radar device RD, for example, to perform SENS detection by the radar device RD. Similarly, the at least one further radar device RD' can also use the resources that the radar device RD, in its role as management node MN, has assigned to the at least one further radar device RD' for detection, e.g., by the at least one further radar device RD'.

[0087] In some examples, the radar device RD in block e6 can start a timer that characterizes a time interval T_valid during which the resource allocation of the radar resources is valid, e.g., a validation timer. In some examples, at least some aspects of element e6 can be performed during this time interval T_valid, e.g., repeated.

[0088] If determination e2 shows that at least one MN-AM announcement message is received, in some examples the procedure continues with an element e7, which symbolizes that the radar device RD ( Fig. 2) Requests radar resources from the management node MN (e.g. at least similar to Block 130 of Fig. 6) In this case, unlike element e3, the radar device RD does not assume the role of the management node MN. Rather, the radar device RD can, for example, function as a "client" that requests a resource allocation from the management node.

[0089] An element e8 symbolizes that the radar device RD receives allocated resources, e.g. from the management node MN, e.g. at least similarly to block 132 of Fig. 6. In some examples, the procedure after element e8 can continue with element e6, e.g. using allocated radar resources, as explained above.

[0090] Element e9 symbolizes a determination, for example by radar device RD or device 200, of whether the timer characterizing the time interval T_valid has expired. If so, in some examples the procedure can continue with element e10, which symbolizes a determination by radar device RD of whether radar device RD is currently acting as the management node.

[0091] In some examples, the procedure can return to element e1 if determination e10 shows that the radar device RD does not currently have the role of the management node.

[0092] In some examples, the procedure can continue with element e5 if determination e10 shows that the radar device RD currently has the role of the management node.

[0093] In some examples, the procedure can then be executed if the radar device RD receives at least one announcement message MN-AM, e.g., from another management node MN, as described, for example, in element e11 of Fig. 12 can be determined, proceed with an element e12, which symbolizes an application of rules, e.g., merging rules MR, to determine whether the radar device RD itself should continue to operate as a management node, e.g., as the sole management node within the environment ENV, or whether the other management node MN should continue to operate as a management node, e.g., as the sole management node within the environment ENV. In other words, element e4 in some examples may include a check to see if at least one announcement message MN-AM is received, e.g., from another management node MN.

[0094] Referring again to the aspect of the merging rules (see also, for example, Block 152 in Fig. 9) symbolizes element e13 in Fig. 12. Determining by the radar device RD, e.g., based on the merging rules MR, whether it continues to have the role of the management node. If so, the procedure can proceed to element e5. If not, the procedure can proceed to element e14, e.g., by sending the currently allocated resources by the radar device RD to the other, e.g., future, management node MN, as determined, e.g., based on the merging rules MR.

[0095] In some examples, Fig. 2, at least one of the radar devices RD, RD' may use frequency-modulated continuous wave radar technology (FMCW radar technology), e.g. within the equipment RES-RD, e.g. for detecting SENS, or it may be an FMCW type radar device.

[0096] Some conventional, centralized approaches to radar resource allocation require a central unit to handle resource allocation for radar devices. At least some of these conventional approaches assume that resource allocation is performed by an infrastructure component. However, in at least some of these conventional approaches, such centralized radar resource allocation can be comparatively complex to implement and even impractical, for example, if the radar device or associated vehicles are located beyond the range of the conventional central unit. In light of this, the principle according to the disclosure makes it possible to propose a scheme for dynamically, e.g., flexibly, selecting a management node for allocating or distributing radar resources.using direct communication between the radar devices RD, RD' involved or their associated units MU, IU, e.g. to coordinate the operation of the various radar devices RD, RD', thereby reducing or avoiding interference between the various radar devices RD, RD'.

[0097] In some examples, the use of the principle according to the disclosure can enable dynamic centralized resource allocation (centralized in the sense that at least temporarily a single management node MN is provided for radar resource allocation, e.g., the allocation), e.g., without the need to provide a static, e.g., infrastructure-based, centralized management node.

[0098] In some examples, the principle according to the disclosure can also enable efficient radar resource allocation even when at least some of the radar devices RD, RD' are out of coverage, i.e., temporarily unable to communicate with at least one network device of a wireless, e.g., cellular, communication system (e.g., via a Uu interface) provided to enable data communication for the radar devices. Instead, the radar devices RD, RD' can at least temporarily use direct, e.g., device-to-device communication, e.g., using a sidelink transmission technique, e.g., according to or based on at least one accepted or planned standard, such as 5G NR or 6G, or the like. In some examples, the radar devices RD, RD' can use such direct, e.g., device-to-device communication, e.g.,for exchanging at least one of the messages described above, such as the announcement message MN-AM, MN-AM', and / or at least one of the further messages REQ-RAD-RES, REQ-RAD-RES', INF-REQ-ASSIG, and the like. Thus, according to the disclosure, the principle enables, in some examples, the coordination of radar operations, e.g., for SENS detection, between different radar devices RD, RD', even if a connection to network devices (e.g., gNB or other base stations) is at least temporarily unavailable.

[0099] In some examples, the principle according to the disclosure enables a so-called centralized approach, in which a single radar device RD, e.g., in the sense of a central unit, is used at least temporarily, e.g., for the allocation of resources, e.g., between different radar devices RD, RD', e.g., vehicle radars.

[0100] In some examples, the management node, e.g., the "central unit," can be a dynamic unit, e.g., a mobile station or unit MU, e.g., a vehicle VEH, or a static unit, e.g., an infrastructure unit IU, e.g., a roadside unit RSU, which in some examples performs resource allocation, at least temporarily, e.g., with respect to radar resources, e.g., for SENS detection. In other words, in some examples, both a mobile unit MU and an infrastructure unit IU can assume the role of the management node as defined in the disclosure, at least temporarily.

[0101] In some examples, the principle of disclosure enables efficient management of radar resources, e.g., allocation and / or assignment, e.g., for mobile units MU, e.g., vehicles VEH, e.g., for vehicle radar devices RD, RD'.

[0102] In some examples Fig. 2. At least one of the radar devices RD, RD' can comply with regulations and / or a planned or accepted communication standard (such as 5G or 6G or the like), i.e., adhere to it, and can, for example, be able to dynamically modify its transmission, e.g., to change at least one parameter relating to radar operation, e.g., detection operation.

[0103] In some examples, at least one of the radar devices RD, RD' may represent an intelligent transport system (ITS) or be used to implement one, e.g. according to or based on at least one planned and / or accepted standard, such as an ETSI standard.

[0104] In some examples, at least one of the radar devices RD, RD' can represent an ITS-SR or be used to implement one, e.g., an ITS station radar, e.g., an ITS equipped with a radar device RD, RD'.

[0105] In some examples, resource requests and / or resource allocations for radar equipment can be provided for a specific, e.g., limited time, e.g., a time interval, e.g., a "work cycle".

[0106] In some examples, Fig. 2. Within such a time interval, e.g., shortly before the expiry of the time interval, the radar device RD, RD' can perform at least one of the following tasks, e.g., to detect, e.g., to obtain, new equipment, e.g., for radar operation, e.g., to detect SENS: Aspects related to locating a management node according to some examples: In some examples, at least one radar device RD, RD' can repeatedly, e.g. periodically, check whether, for example, a management node MN ( Fig. 2) is present, which is designed to perform media access control, e.g., resource allocation and / or assignment, e.g., for interference management, e.g., for an associated environment ENV, e.g., characterized by its coverage area. In some examples, the radar device RD, RD' can monitor a predefined channel, e.g., listen to it, to determine, e.g., whether another node, e.g., a management node MN, e.g., a radar device, is sending a so-called announcement signal indicating the presence of the (e.g., other) management node MN.

[0107] In some examples, such as when interference management is provided as a service in connection with radar operations, for example by infrastructure, announcement messages may not be required. In other examples, at least one infrastructure node may frequently send one or more appropriate announcement messages.

[0108] In some examples, e.g., if no announcement message MN-AM is received by radar device RD, radar device RD can select itself as a management node, e.g., a node designed to manage radar resources, e.g., to control or mitigate interference. In some examples, radar device RD assumes the role of management node MN, at least temporarily, as explained above. In some examples, e.g., after assuming the role of management node MN, radar device RD can send one or more announcement messages, e.g., repeatedly, e.g., periodically, to notify at least one other radar device RD' of its presence.

[0109] In some examples, the announcement messages may contain information that characterizes a state vector, which includes, for example, at least one of the following elements: a) position, b) velocity, c) orientation, or d) an area being covered, i.e., the coverage area of ​​the management node.

[0110] In some examples, such as when at least one MN-AM announcement message is received by the radar device RD, for example, within the environment ENV in which it is currently located, the radar device RD may conclude that a management node MN already exists in the environment ENV. In some examples, for example, based on this determination, the radar device RD may send a resource allocation request to the management node MN. In some examples, the resource allocation request may be referred to as, or constitute, a "resource allocation request message" (RARM).

[0111] In some examples, the radar device RD may, for example, within the request, e.g., the RARM, send one or more of the following pieces of information: a) its own position, or b) its course, or c) a number and / or position of its radar sensors, or d) further information relating to the radar device RD.

[0112] In some examples, a radar class may be defined, e.g., through standardization. In some examples, the radar class may define a radar type (e.g., short-, medium-, or long-range radar). In some examples, information characterizing the radar class may be included in the requirement, e.g., RARM.

[0113] In some examples, a radar capability may be defined, e.g., through standardization. In some examples, the radar capability may define at least one radar-related property, such as at least one of the following: a) a ramp bandwidth or b) a hardware capability. In some examples, information characterizing the radar capability may be included in the requirement, e.g., RARM.

[0114] In some examples, information about currently experienced interference, e.g., from neighboring, even unconnected, radar systems, may be included in the request, e.g., RARM. In some examples, the information about currently experienced interference may include a) an occupied frequency band and / or b) an interference pattern. In some examples, such information may be acquired by cognitive radars, e.g., for the purpose of interference characterization, e.g., from older radar systems. In some examples, the radar system RD may be a cognitive radar system, e.g., a radar system that can acquire the spectrum and use information from the environment to improve its performance.

[0115] In some examples, the request, e.g., RARM, can be sent repeatedly, e.g., periodically, e.g., to the management node MN. In some examples, a periodicity or rate for sending the request, e.g., RARM, can be determined depending on a specific scenario (e.g., number of radar devices in the vicinity, speed, noise level, interference situation, mobility level, and the like).

[0116] In some examples, the management node MN, e.g., the radar device RD, which at least temporarily assumes the role of the management node MN, can use information derived from one or more requests, e.g., RARMs, received from one or more other radar devices RD' located, e.g., in the environment ENV, to allocate radar resources to that one or more other radar devices RD'. In some examples, alternatively or additionally to using the information derived from one or more requests, e.g., RARMs, at least one requirement regarding the quality of the SENS detection can be considered for the allocation of radar resources.

[0117] In some examples, for example, once the radar assets are assigned, information characterizing the assigned radar assets can be sent to one or more additional radar devices RD', for example, using an appropriate message that in some examples may be specified by a) configuration and / or b) standardization. In some examples, the message used to send the information characterizing the assigned radar assets may be referred to as, or constitute, an asset assignment message (RAM). In some examples, the asset assignment message may be sent in at least one of the following different ways: A periodic RAM: The RAM can contain information about dedicated resources, for example, for at least some, e.g., all radar devices. In some examples, the information characterizing the assigned radar resources is updated and transmitted periodically, e.g., based on a recently received RARM from at least one other radar device RD'. In some examples, the RAM can be defined as a radar-device-specific message, e.g., as a unicast, or as a single message, e.g., to a specific group of radar devices, e.g., as a groupcast, or to all radar devices in the environment ENV or in a cooperation cluster, e.g., as a broadcast. An event-based RAM: In some examples, the RAM can contain information about dedicated resources for one or more radar devices, e.g., for all radar devices, and this information can be sent, for example, in response to a RARM received from a specific radar device RD'. Thus, if, in some examples, a specific radar device RD' does not receive a response from the management node MN to its RARM to the management node MN (e.g., if no RAM is received from the specific radar device RD'), the specific radar device RD' can re-send its RARM to the management node MN to obtain the requested resources.

[0118] In some examples, if the specific radar device RD does not receive RAM after N requests (e.g., RARM), it can assign itself as the management node MN and optionally send one or more announcement messages and optionally perform a resource allocation itself, e.g., for itself and / or for at least one other radar device RD'. In other words, in some examples, the radar device RD is configured to send a predetermined number N, N > 1, of resource allocation requests, e.g., to a management node MN, and then, if the radar device RD does not receive a response, e.g., RAM, to the N requests, the radar device RD can assume the role of the management node MN, e.g., after a predetermined time interval.

[0119] In some examples, e.g., when no RAM is received or when an outdated version of a RAM is received (in some examples, the age of information, e.g., a RAM, can be determined and / or assessed), the radar device RD may use the most recently available RAM.

[0120] In some examples, e.g., if the management node MN, e.g., the radar device RD, which at least temporarily assumes the role of the management node MN, does not receive any RARM from at least one other radar device RD' for a predetermined initial period, e.g., a comparatively short period (e.g., depending on a rate or periodicity of the RARM), the radar device RD can estimate a current state of the at least one other radar device RD' and, in some examples, perform a resource allocation for the at least one other radar device RD' accordingly, e.g., based on the estimated current state of the at least one other radar device RD'.

[0121] In some examples, e.g., if the management node MN, e.g., the radar device RD, which at least temporarily assumes the role of the management node MN, does not receive any RARM from at least one other radar device RD' for a predetermined second, e.g., comparatively long, period of time (e.g., depending on a rate or periodicity of the RARM), the management node MN can ignore the at least one other radar device RD', e.g., by removing it from a list of other radar devices RD'.

[0122] In some examples, allocated resources may include a validation time, which in some examples can also be transmitted, e.g., within a message, such as the RAM. In some examples, resource allocation requests, such as RARM, can be sent repeatedly, e.g., periodically, e.g., before the expiration of a validation time for previously allocated resources.

[0123] In some examples, the principle, according to the embodiments, allows the control, e.g., management, of interference, even if it is generated by a non-connected radar (not shown), e.g., a radar device not designed to communicate with the radar devices RD, RD'.

[0124] In some examples, one or more messages according to the disclosure, such as the requests REQ-RAD-RES, REQ-RAD-RES', RARM or the responses INF-RES-ASSIG, INF-RES-ASSIG', RAM or announcements MN-AM, MN-AM', can be sent using at least one conventional message, e.g., in accordance with a planned or accepted standard, e.g., integrated, e.g., as a container, into an existing message as defined by an ETSI standard, such as a Cooperative Attention (CAM) message.

[0125] In some examples, the principle according to the disclosure allows a resource allocation scheme for radar devices RD, RD' to be provided in a centralized and dynamic manner (e.g., using a management node MN, such as a radar device RD that at least temporarily assumes the role of the management node MN), e.g., without a dedicated resource allocation node (e.g., a node designed to permanently perform resource allocation) as the default. In other words, in some examples according to an example scheme as described in the disclosure, the resource allocation for the radar devices RD, RD' can be performed, i.e., selected, by one of the nodes in the scene or environment ENV, e.g., by the radar device RD that at least temporarily assumes the role of the management node MN.

[0126] Some examples, Fig.13, 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 RD according to the disclosure and / or the communication system 1000 according to the disclosure and / or the computer program PRG according to the disclosure and / or the computer-readable storage medium SM according to the disclosure and / or the data carrier signal DCS according to the disclosure for at least one of the following purposes: a) mitigating 301 radar interference or b) coordinating 302 the operation of several radar devices RD, RD', or c) implementing 303 a centralized resource allocation for several radar devices RD, RD', or d) dynamically determining 304 a resource allocation management node, or e) avoiding 305 the provision of a dedicated resource allocation node.

Claims

[1] Method, for example a computer-implemented method, for processing data associated with a radar device (RD) for a mobile unit (MU), e.g. a vehicle (VEH), and / or for an infrastructure unit (IU), e.g. a road infrastructure unit, e.g. a roadside unit (RSU), wherein the method comprises: - Determining (100) the presence (MN-PRESENCE) of a management node (MN) for controlling media access in connection with radar signal transmissions and - based on determining (100) controlling (102) an operation (RD-OP) of the radar device (RD). [2] The method of claim 1, wherein the determining (100) comprises at least one of the following steps: a) Determine (100a) that the management node (MN) is present, e.g. in an environment (ENV) of the radar device (RD), or b) Determine (100b) that the management node (MN) is not present, e.g. in the vicinity (ENV) of the radar device (RD). [3] A method according to any one of the preceding claims, comprising: - Eavesdropping (100c) on a communication channel, - Determine (100d) whether a signal, e.g. an announcement message (MN-AM), from the management node (MN) can be received via the communication channel. [4] A method according to any one of the preceding claims, comprising: if determination (100) reveals that the management node (MN) is not present, e.g., that there is no management node (MN) in the environment (ENV), - Assuming (110) the role (MN-ROLE) of the management node for controlling media access in connection with radar signal transmissions, - Sending (112), for example repeated sending (112a), for example periodic sending (112b), of announcement messages (MN-AM'), e.g. to notify at least one other device, e.g. another radar device (RD'), of the presence of a management node. [5] Method according to claim 4, wherein the announcement message (MN-AM') comprises at least one of the following elements: a) a position (POS) of the radar device (RD) or of a unit (MU, IU) associated with the radar device (RD) or b) a speed (VEL) of the radar device (RD) or of a unit (MU, IU) associated with the radar device (RD) or c) an orientation (ORIENT) of the radar device (RD) or of a unit (MU, IU) associated with the radar device (RD) or d) a coverage area (COV) of the radar device (RD). [6] A method according to any one of the preceding claims, comprising: - Receiving (120) one or more requests (REQ-RAD-RES) from radar equipment, e.g. from one or more other radar devices (RD'), - Processing (122) one or more requirements (REQ-RAD-RES). [7] Method according to claim 6, wherein the processing (122) of the one or more requirements (REQ-RAD-RES) comprises at least one of the following steps: a) Allocation (122a) of radar signal transmission equipment based on one or more requirements (REQ-RAD-RES) to at least one of the following: a1) the radar device (RD), or a2) the one or more additional radar devices (RD'), or b) transmitting (122b) information (INF-RES-ASSIG) characterizing the equipment assigned for radar signal transmission, e.g. to at least one of the one or more additional radar devices (RD'), where, for example, at least one step of A) the allocation (122a) or B) the sending (122b) AA) repeatedly, for example periodically, and / or BB) is carried out in an event-based manner. [8] A method according to any of the preceding claims, comprising: if the determination (100) shows that the management node (MN) is present, - Sending (130), for example repeated sending (130a), for example periodic sending (130b), a request (REQ-RAD-RES') of radar resources to the management node (MN), - Receiving (132) information (INF-RES-ASSIG') that characterizes radar signal transmission equipment assigned to the radar device (RD), where the requirement (REQ-RAD-RES') includes, for example, at least one of the following elements: a) a position (POS) of the radar device (RD) or of a unit (MU, IU) associated with the radar device (RD) or b) a speed (VEL) of the radar device (RD) or of a unit (MU, IU) associated with the radar device (RD) or c) an orientation (ORIENT) or course of the radar device (RD) or of a unit (MU, IU) associated with the radar device (RD), d) a number (NUM) of radar sensors of the radar device (RD) or e) Information (INF-RC) that characterizes a radar type, e.g. at least one type of e1) Short-range radar or e2) Medium-range radar or e3) Characterize long-range radar, or f) Information (INF-CAP) that characterizes at least one radar capability, such as at least one capability of f1) Ramp bandwidth or f2) Hardware capability, or g) Information (INF-INTERF) characterizing interference, e.g., currently experienced interference, e.g., from other, e.g., neighboring, radar devices, which e.g., at least one of g1) one of the frequency bands associated with the interference or g2) characterize an interference pattern. [9] A method according to any of the preceding claims, comprising: - Use (124; 134) of resources (RES-RD) for: a) Radar signal transmission processes, e.g. for detection (SENS), and / or b) Radar signal reception processes, e.g. for detection (SENS). [10] A method according to any of the preceding claims, comprising: - Determine (140), e.g., repeatedly determine (140a), e.g., periodically, e.g., after a predetermined threshold time has elapsed, determine (140b) whether the radar device (RD) has the role (MN-ROLE) of the management node, and, based on the determination (140; 140a; 140b), control (142) an operation (RD-OP) of the radar device (RD), - wherein, for example, if determining (140; 140a; 140b) reveals that the radar device (RD) has the role (MN-ROLE) of the management node, the procedure involves performing (144) at least one of the aspects A) Receiving (120) one or more requests (REQ-RAD-RES) from radar equipment, e.g. from one or more other radar devices (RD'), or B) Processing (122) of one or more requirements (REQ-RAD-RES) includes, - wherein, for example, if determining (140; 140a; 140b) reveals that the radar device (RD) does not have the role (MN-ROLE) of the management node, the procedure involves performing (146) at least one of the aspects C) Determining (100) the presence (MN-PRESENCE) of a management node (MN) for controlling media access in connection with radar signal transmissions or D) Controlling (102) an operation (RD-OP) of the radar device (RD) based on determining (100) includes. [11] A method according to any of the preceding claims, comprising: - Determine (150) whether an announcement message (MN-AM) from another management node (MN) is received, and - then, when an announcement message (MN-AM) is received from another management node (MN), follow (152) rules, e.g., merge rules (MR), which govern whether the radar device (RD) or the other management node (MN) shall assume the role of the management node, and - optionally, if the merging rules (MR) indicate that the radar device (RD) is to have the role of the management node (MN), receive (154) one or more requests (REQ-RAD-RES) of radar equipment from one or more other radar devices (RD'), and - optionally, if the merge rules (MR) indicate that the radar device (RD) is not to have the role of the management node (MN), transmit (156) information (INF-CUR-ASSIG-RES) characterizing the currently allocated resources to the other management node (MN). [12] Device (200; 200a; 200b) for processing data associated with a radar device (RD) for a mobile unit (MU), e.g. a vehicle (VEH), and / or for an infrastructure unit (IU), e.g. a road infrastructure unit, e.g. a roadside unit (RSU), wherein the device (200; 200a; 200b) is designed to perform at least one aspect according to any one of the preceding claims. [13] Radar device (RD) for a mobile unit (MU), e.g. a vehicle (VEH), and / or for an infrastructure unit (IU), e.g. a road infrastructure unit, e.g. a roadside unit (RSU), comprising at least one device (200; 200a; 200b) according to claim 12. [14] Communication system (1000) comprising at least one of the following elements: a) a device (200; 200a; 200b) according to claim 12 or b) a radar device (RD) according to claim 13. [15] Computer program (PRG) comprising instructions which, when the program (PRG) is executed by a computer (202), cause the computer (202) to execute the method according to at least one of claims 1 to 11. [16] Computer-readable storage medium (SM) containing instructions (PRG) which, when executed by a computer (202), cause the computer (202) to execute the method according to at least one of claims 1 to 11. [17] Data carrier signal (DCS) that carries and / or characterizes the computer program (PRG) according to claim 15. [18] Use (300) of the method according to at least one of claims 1 to 11 and / or the device (200; 200a; 200b) according to claim 12 and / or the radar device (RD) according to claim 13 and / or the communication system (1000) according to claim 14 and / or the computer program (PRG) according to claim 15 and / or the computer-readable storage medium (SM) according to claim 16 and / or the data carrier signal (DCS) according to claim 17 for at least one of the following purposes: a) Reduction (301) of radar interference, or b) Coordination (302) of an operation of several radar installations (RD; RD'), or c) Implementation (303) of a centralized resource allocation for multiple radar installations (RD; RD'), or d) dynamic determination (304) of a management node (MN) for a resource allocation or e) Avoidance (305) of providing a dedicated node for resource allocation.

Images