Method for processing data associated with a radar device

Abstract

The invention relates to a method, for example a computer-implemented method, for processing data associated with a first radar device for a vehicle and / or an infrastructure device, for example a road infrastructure device, for example a roadside unit, comprising: acquiring first information which characterizes interference with respect to a signal received by means of the first radar device, for example caused by at least one further radar device, and signaling the interference to at least one further product.

Description

[0001] Description

[0002] title

[0003] Method for processing data associated with a radar device

[0004] State of the art

[0005] The disclosure relates to at least one method for processing data associated with a radar device.

[0006] The disclosure further relates to at least one apparatus for processing data associated with a radar device.

[0007] Disclosure of the invention

[0008] Some examples relate to a method, for example a computer-implemented method, for processing data associated with a first radar device for a vehicle and / or an infrastructure facility, for example a road infrastructure facility, for example a roadside unit, comprising: determining first information characterizing interference with respect to a signal received by the first radar device, for example caused by at least one further radar device, signaling the interference to at least one further product. In some examples, this can inform the at least one further product, which can also be a radar device or a product with or for a radar device, for example, about the presence or possibly also the absence of the interference.For example, signaling the interference may include signaling the presence of the interference. In some examples, the determination of the first information is carried out based on at least one of the following elements: a) noise level, for example, an increase in the noise level, and / or b) false positive detection, e.g., detection of ghost objects.

[0009] In some examples, signaling is performed using a wireless, e.g., radio-based, communication interface, i.e., by transmitting via the communication interface. For example, the wireless communication interface can be implemented using a mobile radio system, e.g., a cellular one, e.g., based on and / or compatible with a 5G or 6G standard.

[0010] In some examples, it is provided that the signaling is carried out using an information element comprising one or more bits, wherein, for example, the information element can be evaluated in a physical layer of a receiver of the at least one further product.

[0011] In some examples, it is provided that the information element is encoded with a, for example, comparatively high, redundancy, for example in comparison to other information that is signaled, e.g. sent.

[0012] In some examples, it is provided that the method comprises: signaling second information that characterizes at least one property of the interference, for example a level of the interference, wherein the signaling of the second information occurs, for example, together with the signaling of the interference, for example the signaling of the presence of the interference, wherein, for example, the second information can be integrated into an or the information element.

[0013] In some examples, the method comprises determining a level of interference, for example, based on a noise level of the received signal. Optionally, in some examples, operation can be influenced based on the level of interference. In some examples, the method comprises at least one of the following elements: determining at least one measure for reducing or avoiding the interference, and, optionally, locally using the at least one measure, and, optionally, sending information characterizing the at least one measure to the at least one further product.

[0014] In some examples it is provided that the at least one measure characterizes, for example specifies, at least one of the following elements: a) ignoring a spectrum, e.g. an intermediate frequency spectrum, or b) detecting environmental information at at least one specifiable point in time, c) using a specifiable, for example changed, bandwidth, d) using at least one specifiable, for example changed, parameter for a temporal change of a frequency, e.g. radar sweep, e) reducing, for example eliminating, the interference, e.g. after a dechirp process.

[0015] In some examples, it is provided that the sending is carried out together with the signaling, for example using the information element or at least one further information element.

[0016] In some examples, it is provided that the method comprises transmitting information determined by means of the first radar device, for example characterizing at least one of the following elements: a) a point cloud, or b) an object, wherein, for example, a unicast or broadcast or groupcast is used for the transmission.

[0017] In some examples, the method comprises: using a message of the Collective Perception Message, CPM, type, optionally supplementing a, for example, conventional, message of the CPM type, for example with the information element.

[0018] In some examples, for example, if interference, e.g., presence of the interference, and / or property(s) of the interference, are signaled, e.g., using a CPM, such a CPM, e.g., supplemented CPM, can be efficiently processed by other devices, e.g., vehicles. For example, using a CPM supplemented according to some examples or based on the signaling of the interference or the first and / or second information, it can be determined, e.g., in advance, whether, e.g., further, e.g., conventional, contents of the CPM are reliable (e.g., because they are free of interference) or not (e.g., in the case of signaled interference, e.g., signaled presence of the interference).

[0019] Some examples relate to a method, e.g., a computer-implemented method, for processing data associated with a radar device for a product, comprising: receiving a signaling of interference with respect to a signal received by another radar device (e.g., for a vehicle and / or infrastructure facility), operating at least one component of the radar device and / or the product based on the signaling.

[0020] In some examples, receiving is provided using a wireless, e.g., radio-based, communication interface.

[0021] In some examples, it is provided that the signaling is carried out using an information element comprising one or more bits, wherein, for example, the information element is evaluated in a physical layer (ISO / OSI layer 1) of a receiver of the product.

[0022] In some examples, the method comprises receiving information, for example second information, which characterizes at least one property of the interference, for example a level of the interference, wherein, for example, the second information is integrated into an information element used for signaling.

[0023] In some examples, the method comprises at least one of the following elements: receiving information characterizing at least one measure for reducing or avoiding the interference, and, optionally, using the at least one measure locally, and, optionally, sending the information characterizing the at least one measure, wherein, for example, the at least one measure characterizes, for example specifies, at least one of the following elements: a) ignoring a spectrum, e.g. an intermediate frequency spectrum, or b) detecting environmental information at at least one predefinable point in time, c) using a predefinable, for example changed, bandwidth, d) using at least one predefinable, for example changed, parameter for a temporal change of a frequency, e.g. radar sweep, e) reducing, for example eliminating, the interference, e.g. after a dechirp process.

[0024] In some examples, the method comprises receiving information determined by means of the further radar device, for example characterizing at least one of the following elements: a) a point cloud, or b) an object, and, optionally, using the information.

[0025] Some examples relate to an apparatus for carrying out the method according to the present disclosure.

[0026] Some examples relate to a vehicle, for example a motor vehicle, comprising at least one device according to the present disclosure.

[0027] Some examples relate to an infrastructure facility, for example a road infrastructure facility, for example a roadside unit, comprising at least one device according to the present disclosure.

[0028] Some examples relate to a system comprising at least one device according to the present disclosure and / or at least one vehicle according to the present disclosure and / or at least one infrastructure facility according to the present disclosure.

[0029] Some examples relate to a computer-readable storage medium comprising instructions that, when executed by a computer, cause the computer to perform the method according to the present disclosure. Some examples relate to a computer program comprising instructions that, when executed by a computer, cause the computer to perform the method according to the present disclosure.

[0030] Some examples relate to a data carrier signal that transmits and / or characterizes the computer program according to the present disclosure.

[0031] Some examples relate to a use according to the present disclosure and / or the device according to the present disclosure and / or the vehicle according to the present disclosure and / or the infrastructure facility according to the present disclosure and / or the system according to the present disclosure and / or the computer-readable storage medium according to the present disclosure and / or the computer program according to the present disclosure and / or the data carrier signal according to the present disclosure for at least one of the following elements: a) signaling the interference to at least one further product, b) exchanging information regarding the interference with the at least one further product, c) informing other products about the interference, d) distributing information regarding the interference to one or more further products, e) informing the at least one further product about it,which measure is to be taken to reduce or avoid the interference, f) influencing radar devices with regard to at least one parameter for receiving and / or evaluating signals, g) supplementing, for example, conventional messages with at least one piece of information regarding the interference, h) exchanging measurements of the first radar device, optionally together with information regarding the reliability of the measurements, with the at least one further product.

[0032] Further features, possible applications, and advantages of the invention will become apparent from the following description of examples of the invention, which are illustrated in the figures of the drawing. All described or illustrated features, individually or in any combination, constitute the subject matter of the invention, regardless of their summary in the claims or their references, as well as regardless of their wording or representation in the description or drawing.

[0033] The drawing shows:

[0034] Fig. 1 schematically shows a simplified flow diagram,

[0035] Fig. 2 schematically shows a simplified block diagram,

[0036] Fig. 3 schematically shows a simplified flow diagram,

[0037] Fig. 4 schematically shows a simplified flow diagram,

[0038] Fig. 5 schematically shows a simplified flow diagram,

[0039] Fig. 6 schematically shows a simplified flow diagram,

[0040] Fig. 7 schematically shows a simplified flow diagram,

[0041] Fig. 8 schematically shows a simplified flow diagram,

[0042] Fig. 9 schematically shows a simplified flow diagram,

[0043] Fig. 10 schematically shows a simplified flow diagram,

[0044] Fig. 11 schematically shows a simplified block diagram,

[0045] Fig. 12 schematically shows a simplified block diagram,

[0046] Fig. 13 schematic examples of uses.

[0047] Some examples, Fig. 1 , 2, relate to a method, for example a computer-implemented method, for processing data associated with a first radar device 1 for a vehicle 10 and / or an infrastructure facility, for example road infrastructure facility, for example roadside unit, 20, comprising: determining 100 first information 1-1 which characterizes an interference with regard to a signal SIG-RX received by means of the first radar device 1, for example caused by at least one further radar device T, signaling 102 the interference INT to at least one further product 30. In some examples, the at least one further product 30, which may for example also be a radar device or a product with or for a radar device 31, can thereby be informed about the presence or possibly also the absence of the interference INT.For example, signaling 102 of the interference may include signaling the presence of the interference. In some examples, signaling 102 of the interference may also include signaling at least one property of the interference. Exemplary details of this are described further below.

[0048] In some examples, Fig. 1, it is provided that the determination 100 of the first information 1-1 is carried out based on at least one of the following elements: a) noise level, e.g. of the received signal SIG-RX (and / or a signal derivable therefrom), e.g. increase in the noise level, and / or b) false positive detection, e.g. detection of ghost objects, e.g. by the radar device 1.

[0049] In some examples (Figs. 1, 2), it is provided that the signaling 102 is carried out using a wireless, for example, radio-based, communication interface KS, see block 102a. For example, the wireless communication interface KS can be implemented using a mobile radio system, for example, a cellular one, for example, based on and / or compatible with a 5G or 6G standard. In some examples, vehicle-to-vehicle (V2V) or vehicle-to-everything (V2X) communication methods can be used.

[0050] In some examples, it is provided that the signaling 102 is carried out using an information element IE having one or more bits, see block 102b of Fig. 1 and the block arrow of Fig. 2, wherein, for example, the information element IE can be evaluated in a physical layer 32-PHY of a receiver 32 of the at least one further product 30. In some examples, the information element IE can thus be used to signal whether interference is present, e.g., by means of a predeterminable first value for the information element IE, or whether no interference (or no significant interference (e.g., exceeding a predeterminable threshold value)) is present, e.g., by means of a predeterminable second value for the information element IE, which is different from the first value. In some examples, one bit for the information element IE can thus be sufficient to signal whether interference is present or not, thus, e.g.,to signal the presence of interference.

[0051] In some examples, it is provided that the information element IE is sent and / or encoded with a, for example, comparatively high, redundancy, for example in comparison to other information which is also signaled, for example sent to the at least one further product 30.

[0052] In some examples, Fig. 1, it is provided that the method comprises: signaling 102c, for example via the communication interface KS, second information I-2 which characterizes at least one property of the interference INT, for example a level of the interference, wherein the signaling 102c of the second information I-2 takes place, for example, together with the signaling 102 of the interference INT, wherein, for example, the second information I-2 can be integrated into the information element IE or another information element (not shown).

[0053] In some examples (see Fig. 3), the method includes determining 110 a level INT-PEG of the interference INT, for example, based on a noise level of the received signal SIG-RX. Optionally, in some examples, operation of, for example, the radar device 1 can be influenced based on the level INT-PEG of the interference, see block 112 of Fig. 3.

[0054] In some examples, Fig. 4, it is provided that the method comprises at least one of the following elements: determining 120 at least one measure M-IM for reducing or avoiding the interference INT, and, optionally, locally using 122 the at least one measure M-IM (i.e., for example, using the at least one measure M-IM for the radar device 1), and, optionally, sending 124 information lM-IM characterizing the at least one measure M-IM to the at least one further product 30 (e.g., via the communication interface KS). As a result, in further examples, the at least one further product 30 can, for example, use the at least one measure M-IM, e.g., for the radar device 31 assigned to it, or, e.g., deliberately use a different type of measure.

[0055] In some examples it is provided that the at least one measure M- IM characterizes, for example specifies, at least one of the following elements: a) ignoring a spectrum, e.g. an intermediate frequency spectrum, or b) detecting environmental information at at least one specifiable point in time, c) using a specifiable, for example changed, bandwidth, d) using at least one specifiable, for example changed, parameter for a temporal change of a frequency, e.g. radar sweep, e) reducing, for example eliminating, the interference.

[0056] In some examples, Fig. 4, it is provided that the transmission 124 is carried out together with the signaling 102 (Fig. 1), for example using the information element IE or at least one further information element IE', see the optional block 124a according to Fig. 4.

[0057] In some examples, Fig. 5, it is provided that the method comprises a transmission 130 (e.g. via the communication interface KS) of information 1-1 determined by means of the first radar device 1, for example characterizing at least one of the following elements: a) a point cloud PC, or b) an object OBJ, wherein for example a unicast UC or broadcast BC or groupcast GC is used for the transmission 130, see the optional block 132.

[0058] In some examples, Fig. 6, it is provided that the method comprises: using 140 a message CPM of the Collective Perception Message, CPM, type, optionally supplementing 142 a, for example, conventional, message CPM of the CPM type, for example with the information element IE, IE'. In some examples, the message CPM can be used, for example, for at least one of: a) signaling 102 the interference INT, or b) signaling 102c the second information I-2, or c) sending 124 the information lM-IM characterizing the at least one measure M-IM, or d) sending 130.

[0059] In some examples, Fig. 2, at least some aspects of the method described by way of example with respect to the radar device 1 are executable and / or controllable by a device 200. Details of the device 200 according to some examples are described with reference to Fig. 11.

[0060] Some examples, Fig. 2, 7 relate to a method, for example a computer-implemented method, for processing data associated with a radar device 31 for a product 30, comprising: receiving 150 a signaling SIG of or the interference INT relating to a signal SIG-RX received by means of another radar device, e.g. the radar device 1 according to Fig. 2 (e.g. for a vehicle 10 and / or an infrastructure facility 20), operating 152 at least one component of the radar device 31 and / or the product 30 based on the signaling SIG. In some examples, this makes it possible, for example, to adapt the operation of the radar device 31 to the interference INT signaled by the (other) radar device 1, for example such that the radar device 31 experiences reduced interference from a source of the signaled interference INT.

[0061] In some examples, Fig. 7, it is provided that the receiving 150 is carried out using a wireless, for example radio-based, communication interface KS, cf. block 150a.

[0062] In some examples (Fig. 7), it is provided that the signaling takes place using an information element IE having one or more bits, see block 150b, wherein, for example, the information element IE is evaluated in a physical layer 32-PHY (ISO / OSI layer 1) of the receiver 32 of the product 30. In some examples (Fig. 8), it is provided that the method comprises: receiving 155 information, for example, second information I-2, which characterizes at least one property of the interference INT, for example, a level of the interference, wherein, for example, the second information I-2 is integrated into an information element IE used for the signaling SIG. The optional block 157 according to Fig. 8 symbolizes an optional use of the second information I-2, for example, for an operation of the product 30.In some examples, the second information I-2 can be used to adapt an operation of the radar device 31 such that the radar device 31 is not disturbed by the interference INT or is disturbed to a reduced extent.

[0063] In some examples, Fig. 9, it is provided that the method comprises at least one of the following elements: receiving 160 information lM-IM, e.g. from the radar device 1 (Fig. 2), which characterizes at least one measure M-IM for reducing or avoiding the interference, and, optionally, locally using 162 the at least one measure M-IM (e.g. for or by means of the radar device 31), and, optionally, transmitting 164 the information lM-IM characterizing the at least one measure, wherein, for example, the at least one measure M-IM characterizes, for example specifies, at least one of the following elements: a) ignoring a spectrum, e.g.an intermediate frequency spectrum, or b) detecting environmental information at at least one predeterminable point in time, c) using a predeterminable, for example changed, bandwidth, d) using at least one predeterminable, for example changed, parameter for a temporal change of a frequency, e.g. radar sweep, e) reducing, for example eliminating, the interference.

[0064] In some examples, Fig. 10, it is provided that the method comprises receiving 170 (e.g. via the communication interface KS) information 1-1 determined by means of the further radar device 1 (Fig. 2), for example characterizing at least one of the following elements: a) a point cloud PC, or b) an object OBJ, and, optionally, using 172 the information 1-1. In some examples, Fig. 2, at least some aspects of the method described by way of example can be executed and / or controlled with respect to the radar device 31 by a device 200'. Details of the device 200 according to some examples are described with reference to Fig. 11.

[0065] In some examples, the device 200, 200' is configured to carry out both at least some aspects of the method described by way of example with respect to the radar device 31 and at least some aspects of the method described by way of example with respect to the radar device 1.

[0066] Some examples, Fig. 11 , relate to an apparatus 200, 200' for carrying out the method according to the present disclosure.

[0067] In some examples, it is provided that the device 200 comprises: a computing device ("computer") 202 having at least one computing core 202a, a memory device 204 assigned to the computing device 202 for at least temporarily storing at least one of the following elements: a) data DAT (e.g. data associated with the information 1-1, 1-2, SIG, IE, IE', lM-IM, 1-1, ...), b) computer program PRG, for example for carrying out the method according to the embodiments.

[0068] In some examples, the storage device 204 includes a volatile memory (e.g., random access memory (RAM)) 204a, and / or a non-volatile (NVM) memory (e.g., flash EEPROM) 204b, or a combination thereof or with other memory types not explicitly mentioned.

[0069] Some examples, Fig. 11 , relate to a computer-readable storage medium SM comprising instructions PRG which, when executed by a computer 202, cause the computer 202 to carry out the method according to the disclosure.

[0070] Some examples relate to a computer program PRG, comprising instructions that, when executed by a computer 202, cause the computer to carry out the method according to the disclosure. Some examples relate to a data carrier signal DCS that characterizes and / or transmits the computer program PRG. The data carrier signal DCS is, for example, transmittable (e.g., transmittable and / or receivable) via an optional data interface 206 of the device 200, 200'. In some examples, the communication interface KS is implemented by means of the optional data interface 206.

[0071] Some examples, Fig. 12, relate to a vehicle 10a, 10b, for example a motor vehicle, comprising at least one device 200, 200' according to the present disclosure, and, for example, at least one radar device 1, 1a in each case.

[0072] Some examples, Fig. 12, relate to an infrastructure facility 20, for example road infrastructure facility, for example roadside unit, comprising at least one device 200, 200' according to the present disclosure.

[0073] In some examples, according to Fig. 12, several vehicles 10a, 10b, 10c, 10d, 10e are present, e.g., in the area of ​​a roadway not further designated, e.g., a street. An undesignated radar device of vehicle 10e causes an interference INT-1, which can be determined by radar device 1 of vehicle 10a according to some examples (or wherein characterizing first information 1-1 can be determined by radar device 1 of vehicle 10a according to some examples), see, e.g., also block 100 according to Fig. 1.

[0074] In some examples, the vehicle 10a signals the detected interference INT-1 , see the arrow a1 , e.g. to the vehicle 10b, which on this basis can, e.g. at least temporarily adapt the operation of its radar device 1a, for example, in order not to be disturbed by the vehicle 10e with regard to its radar signal evaluation.

[0075] In some examples, vehicle 10b forwards the information obtained in this way (see arrow a2), e.g., to other vehicles. Alternatively or additionally, vehicle 10b can detect the interference INT-2 caused by vehicle 10a and signal it to other vehicles 10c, 10d, 10e (see arrow a2).

[0076] In some examples, elements 10c, 10d symbolize objects to be detected that may not be equipped with radar and / or communication elements, where, for example, vehicle 10a wants to detect objects 10c and 10d. For example, such detection is not optimal, e.g., due to interference from 10e. This interference, for example, increases a noise level (e.g., so that detection of some real objects is no longer possible or that detection of ghost objects occurs). In some examples, vehicle 10a can determine the interference and / or its property(ies), for example, evaluate it, e.g., using its radar device. In some examples, vehicle 10b can, for example, perform a comparable process and determine interference, e.g., presence of the interference, and / or property(ies) of the presence. For example, vehicle 10b can determine interference, e.g.,Communicate presence of interference and / or characteristic(s) of rear radars from vehicle 10a to 10e, see arrow a2.

[0077] Some examples, Fig. 2, relate to a system 1000 comprising at least one device 200, 200' according to the present disclosure and / or at least one vehicle 10 according to the present disclosure and / or at least one infrastructure facility 20 according to the present disclosure.

[0078] 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.

[0079] In some examples, Fig. 2, information regarding interference effects can be signaled, for example transmitted, from a first radar device 1 to one or more further radar devices 31, whereby the further radar devices can, for example, adapt their operation to the interference effects. Some examples enable, for example, communication between different devices 200, 200' or associated vehicles, e.g., for cooperation regarding signaling interference and / or evaluating radar signals from different radar devices, e.g., based on an exchange of objects / point clouds or raw data from at least one radar device.

[0080] Some examples allow an exchange of metadata, e.g. in the form of the signaling SIG and / or the second information I-2, where an interference is indicated e.g. by means of a binary value, e.g. flag, e.g. bit flag, see e.g. the information element IE.

[0081] Some examples allow an exchange of a degree or level of interference, such as that obtained after quantization.

[0082] Some examples allow for the exchange of information describing or identifying a scheme for suppressing interference(s). Some examples propose providing a plurality of measures M-IM, e.g., methods and / or strategies, for interference reduction or elimination, and sharing them, e.g., between different radar devices 1, 31 or devices 200, 200' or vehicles. In some examples, index information identifying a specific strategy or method thereof can be exchanged.

[0083] Some examples, Fig. 2, enable operation of a radar device 1 with reduced interference or while avoiding interference such as can arise in conventional approaches, e.g. from other radar devices T that operate in the same frequency range, e.g. spectrum, (or a partially overlapping spectrum).

[0084] In some examples, the radar device 1, 31 operates, for example, according to the principle of a frequency-modulated continuous wave radar (FMCW), which, for example, sweeps a predefined bandwidth and extracts, for example, object-relevant features, such as distance, speed, angle, class, orientation, etc., for example after deciphering at a receiver. If other products equipped with FMCW radar devices T (Fig. 2), such as vehicles or roadside units, scan the same spectrum or part of the same spectrum as a first radar device 1, they can thereby generate interference for the first radar device 1. In some examples, this interference, e.g. interference, can be detected, for example as part of the determination 100 (Fig. 1) of the first information I-1. In some examples, the detection of the interference orInterference based on detecting an increase in a noise level and / or a detection of ghost objects by the first radar device.

[0085] In some examples, if at least one of a) an increase in the noise level or b) a ghost object has been detected, e.g., by the first radar device 1 (Fig. 2) or a device 200 associated with it, the information element IE, e.g., in the form of a bit, which in some examples may be referred to as an "interference present bit (IPB)," can be provided, or its value can be set accordingly, e.g., to "1," and it is signaled, e.g., to the at least one further product 30, e.g., by transmission via the communication interface KS. In some examples, this signals, e.g., the interference INT, see block 102 of Fig. 1.

[0086] As already mentioned above, the IPB is encoded with comparatively high redundancy, e.g. to ensure correct decoding on a receiver side, e.g. in the at least one further product 30 (Fig. 2).

[0087] In some examples, the IPB is interpreted in the PHY layer 32-PHY of the receiver 32. In some examples, the IPB, e.g., if it has a value of "1" (e.g., indicating the presence of interference), may refer to at least one further information element, e.g., a larger packet (e.g., than one bit, corresponding to the IPB), which characterizes, e.g., the second information I-2 and / or the information I-M-IM, etc. In some examples, a receiver 32 of the IPB may, when the IPB signals interference, evaluate the at least one further information element, e.g., in order to process the information I-2, I-M-IM. In some examples, the "larger packet" described above may be referred to, e.g., as a "radar interference packet (RIP)" or information element "RIP." In some examples, the RIP includes, e.g., information about a level of interference, which, e.g.,can be determined based on an increase in the noise level at the first radar device 1.

[0088] In some examples, for example, after the RIP has been provided, the determination 120 (Fig. 4) of the at least one measure M-IM for reducing or avoiding the interference INT takes place. In some examples, the information lM-IM regarding the at least one measure M-IM is also integrated into the RIP, for example.

[0089] In some examples, a radar device or a radar sensor (e.g., the first radar device 1 that has detected the interference INT and / or a radar device 31 of the at least one further product 30 to which the interference INT has been signaled, see block 102 of Fig. 1) can use one or more, e.g., different, signal processing methods to suppress interference caused by the interference mentioned or signaled.

[0090] In some examples, a radar device 1, 31 can, for example, detect a time of interference in a received radar signal SIG-RX and cut off the signal component disturbed by the interference, i.e., for example, not evaluate it, or, for example, replace the cut-off signal component by interpolation based on suitable sampling points, for example, not affected by the interference.

[0091] In some examples, a radar device 1, 31 may use an iterative adaptive thresholding method (IMAT) to mitigate detected or signaled interference.

[0092] In some examples, a selection or specification of at least one interference reduction scheme (see, for example, also the M-IM measure according to some examples) is included in the RIP. In some examples, this can, for example, support other products 30, such as vehicles with associated radar equipment 31, in using a different type of interference reduction scheme than the first radar equipment 1 which detected and signaled the interference and which, for example, uses the interference reduction scheme specified in the RIP. The use of different interference reduction schemes in the various radar equipment 1, 31 can, in some examples, lead to different data, for example in the form of point clouds, which can, for example, improve a fusion of radar data from the various radar equipment 1, 31.

[0093] In some examples, an information element, e.g. in the form of the RIP, can be used, with one or more of the following components: a) level of interference (e.g. "InterferenceLevel: IL") (data field or information element "IL"), b) method for interference mitigation (e.g. "InterferenceManagementMethod: IMM" (data field or information element "IMM"), see e.g. also the measure(s) M-IM, c) scheme for interference mitigation (e.g. InterferenceCancellationScheme: ICS], data field or information element "ICS", e.g. definable if data field IMM specifies a cancellation / extinction strategy).

[0094] In some examples, upon detection of the presence of interference, e.g. in the area of ​​the first radar device 1 (Fig. 2), the RIP may be generated and at least one of the information elements IL, IMM, ICS is integrated into the RIP.

[0095] In some examples, if the IMM data field suggests a cancellation (e.g., cancellation), a corresponding interference elimination scheme can be implemented, specified, for example, by the content of the ICS data field. In some examples, if the IMM data field does not suggest a cancellation (e.g., cancellation), the ICS data field can be omitted from the RIP, thus making the RIP shorter, for example.

[0096] In some examples, the RIP is encoded with a predeterminable modulation and coding scheme (MCS) on a transmitter side, e.g. in the area of ​​the first radar device 1, and sent, e.g. via the communication interface KS to the at least one other product 30.

[0097] In some examples, e.g. in addition to the RIP, i.e. e.g. in addition to the RIP, e.g. together with the RIP, point clouds and / or objects and / or other information that can be determined by means of the radar device 1 are sent via the communication interface KS to the at least one other product 30, for example via a communication channel, for example by means of at least one of: a) unicast, or b) groupcast, or c) broadcast, see e.g. the optional block 132 of Fig. 5. In some examples, at least one message of the Collective Perception Message, CPM, type is used for sending the RIP and / or the other information that can be determined by means of the radar device 1 SIG, 1-1 , I-2, 1-1, lM-IM, ... .

[0098] In some examples, one or more additional products 10, 20, 30 receive the RIP and / or the other information that can be determined by means of the radar device 1 and sent via the communication interface KS, for example in the form of at least one CPM message. In some examples, the one or more additional products 10, 20, 30 thus have, for example, several point clouds (e.g., by their own radar device 31, in the case of product 30, and by the information sent by the radar device 1) or CPM messages in order, in some examples, to perform, for example, a fusion of at least some of this information on the basis of these.

[0099] In some examples, the one or more further products 10, 20, 30 can receive, for example, the signaling 102, that is to say, for example, the IPB and / or RIPs of at least one radar device 1 (or also several such IPBs and / or RIPs of several transmitting radar devices or devices) and use them, for example, to carry out an intelligent fusion.

[0100] In some examples, if no signaling SIG (corresponding to block 102 of Fig. 1) or no IPB is detected in received data, a data receiving product may infer that the received data was sent by a conventional radar device or a conventional product that does not, for example, carry out the method according to the examples.

[0101] In some examples, a contribution of the data transmitted with this RIP can be weighted for a fusion process, e.g. based on a level of interference (see, for example, the data field or information element "IL"), as may be contained in some examples, e.g., in a RIP. This makes it possible, for example, to assign a comparatively small weighting factor or influence for the data fusion to received data such as point clouds and / or objects from other radar devices that signal a comparatively high interference level (e.g., through data field IL). In some examples, a comparatively large weighting factor or influence for the data fusion can be assigned to received data such as point clouds and / or objects from other radar devices that signal a comparatively low interference level (e.g., through data field IL).

[0102] In some examples, a data receiving product 30 may, e.g., based on the data field or information element IMM, choose its own scheme for future radar transmissions, e.g., change one or more parameters related to a used frequency spectrum and / or a sweep process and / or a chirp duration, e.g., in order to receive less interference from other radar devices, thus improving interference suppression.

[0103] In some examples, a data receiving product 30 can, e.g., choose between point clouds from different senders based on the data field or information element ICS (e.g., for reasons of diversity), e.g., if several point clouds have been received.

[0104] In some examples, at least one of the information elements IE, IE', IPB, RIP can be used, for example, in addition to conventional, e.g., already established, messages, for example, integrated into such conventional messages, e.g., of the CPM type. In some examples, a CPM message can be provided with a container (e.g., information element) that can accommodate at least one of the elements IPB or RIP. In some examples, CPM messages extended in this way can provide receiving products, e.g., stations, with object generation know-how of the sending device 1, 200.

[0105] In some examples, at least one of the following parameters may be specified for signaling 102 and / or for transmitting the RIP, for example, dynamically (during runtime): a) size, or b) update rate, or c) quantization density, etc. In some examples, the specification of at least one of these parameters may be dependent on a use case and / or a communication overhead.

[0106] Some examples enable at least one of the following aspects, at least temporarily: a) exchange of radar measurements between radar devices 1, 31, e.g. radar sets, e.g. using CPM messages exchanged between vehicles associated with the radar devices, e.g. together with metadata, e.g. for reliability of the radar measurements (e.g. interference levels), b) processing of raw data, e.g. to reduce or even remove interference or other signal impairments, e.g. by filtering and / or based on artificial intelligence ("AI") or machine learning ("ML") methods. In some examples, the recipient of the shared data can be informed, e.g., about an intensity of the impairments and a type of corrections, e.g. so that it can understand the corresponding limitations regarding reliability of the data., c) When raw or processed radar data (e.g. point cloud) or object lists are passed on, e.g. for a joint evaluation (e.g. in the sense of joint perception), the degree of the experienced impairments (e.g. at least one of i) interference, or ii) hardware limitations, or iii) performance indicators, e.g. sensor KPIs (key performance indicators)) or the processing is taken into account, so that the receiver can weight input data for a sensor fusion accordingly, d) In the case of (pre-)processed data or object lists, the receiver may not be able to assess the original degree of interference, so that in some examples, labeling the received sensor data, e.g. with a value for the detection quality, can be useful, e) In some examples, metadata that characterizes, e.g. the detection quality of the sensor data, e.g. of a radar device, is transmitted together with the sensor data in an information element that e.g.may have multiple parts (e.g., "multi-element information element"), e.g., encoded by one or more flags, e.g., for a degree of interference and e.g., an applied interference suppression method. In some examples, the coding may be coordinated, e.g., configured or standardized, whereby interoperability, e.g., between different providers, may be improved. f) In some examples, cooperative radar systems with multiple radar devices 1, 31 (Fig. 2) may be provided, wherein, e.g., at least one radar device 31 uses the metadata sent by another radar device 1, e.g., for sensor fusion, e.g., to give higher weight to more reliable measurement data than data with reported stronger interference or impairments. g) In some examples, a receiver of the metadata (e.g., element 30 of Fig. 2) may use the metadata to learn that surrounding radar devices (e.g.,Element 1) have been disturbed, e.g. to check whether the radar device 31 of the receiver 30 could be the source of such an impairment, e.g. to change at least one parameter, e.g. a radar chirp parameter, of the radar device 31 of the receiver 30, e.g. to avoid that the transmitter 1 of the metadata is further impaired in the future by radar signals (e.g. by subsequent chirps) of the radar device 31 of the receiver 30. h) In some examples, at least some aspects of the disclosure can be configured and / or specified, for example by means of standardization (e.g. addition of at least one information element IE, IE' or IPB or RIP to a possibly existing message, e.g. of the CPM type).

[0107] Some examples, Fig. 13, relate to a use according to the present disclosure and / or the device 200, 200' according to the present disclosure and / or the vehicle 10, 10a, 10b according to the present disclosure and / or the infrastructure facility 20 according to the present disclosure and / or the system 1000 according to the present disclosure and / or the computer-readable storage medium SM according to the present disclosure and / or the computer program PRG according to the present disclosure and / or the data carrier signal DCS according to the present disclosure for at least one of the following elements: a) signaling 301 the interference INT, INT-1, INT-2 to at least one further product 30, 10b, 10c, 10d, 10e, b) exchanging 302 information regarding the interference with the at least one further product, c) informing 303 other products about the interference,d) Distributing 304 information regarding the interference to one or more further products, e) Informing 305 the at least one further product about which measure(s) should be taken to reduce or avoid the interference, f) Influencing 306 radar devices 31, 1a with respect to at least one parameter for receiving and / or evaluating signals, g) Supplementing 307, for example conventional, messages with at least one piece of information regarding the interference, h) Exchanging 308 measurements of the first radar device 1, optionally together with information regarding a reliability of the measurements, with the at least one further product.

Claims

Claims 1. Method, for example a computer-implemented method, for processing data associated with a first radar device (1) for a vehicle (10) and / or an infrastructure device, for example a road infrastructure device, for example a roadside unit (20), comprising: determining (100) first information (1-1) which characterizes an interference (INT) with regard to a signal (SIG-RX) received by means of the first radar device (1), for example caused by at least one further radar device (T), signaling (102) the interference (INT) to at least one further product (30).

2. The method according to claim 1, wherein the determining (100) of the first information (1-1) is carried out based on at least one of the following elements: a) noise level, for example increase in the noise level, and / or b) false positive detection, eg detection of ghost objects.

3. Method according to at least one of the preceding claims, wherein the signaling (102) is carried out (102a) using a wireless, for example radio-based, communication interface (KS).

4. Method according to at least one of the preceding claims, wherein the signaling (102) is carried out (102b) using an information element (IE) having one or more bits, wherein, for example, the information element (IE) is evaluable in a physical layer (32-PHY) of a receiver (32) of the at least one further product (30).

5. The method according to claim 4, wherein the information element (IE) is encoded with a, for example, comparatively high, redundancy.

6. Method according to at least one of the preceding claims, comprising: signaling (102c) second information (I-2) which characterizes at least one property of the interference (INT), for example a level of the interference, wherein the signaling (102c) of the second information (I-2) takes place, for example, together with the signaling (102) of the interference (INT), wherein, for example, the second information (I-2) can be integrated into an or the information element (IE).

7. The method according to at least one of the preceding claims, comprising: determining (110) a level (INT-PEG) of the interference (INT), for example based on a noise level of the received signal (SIG-RX).

8. Method according to at least one of the preceding claims, comprising at least one of the following elements: determining (120) at least one measure (M-IM) for reducing or avoiding the interference, and, optionally, locally using (122) the at least one measure (M-IM), and, optionally, sending (124) information (lM-IM) characterizing the at least one measure (M-IM) to the at least one further product (30).

9. The method according to claim 8, wherein the at least one measure (M-IM) characterizes, for example specifies, at least one of the following elements: a) ignoring a spectrum, e.g. an intermediate frequency spectrum, or b) detecting environmental information at at least one specifiable point in time, c) using a specifiable, for example changed, bandwidth, d) using at least one specifiable, for example changed, parameter for a temporal change of a frequency, e.g. radar sweep, e) reducing, for example eliminating, the interference.

10. The method according to claim 8 or 9, wherein the sending (124) is carried out (124a) together with the signaling (102), for example using the information element (IE) or at least one further information element (IE 1 ).

11. Method according to at least one of the preceding claims, comprising transmitting (130) of data determined by means of the first radar device (1) Information (1-1), for example characterizing at least one of the following elements: a) a point cloud (PC), or b) an object (OBJ), wherein for example a unicast (UC) or broadcast (BC) or groupcast (GC) is used (132) for the transmission (130).

12. Method according to at least one of the preceding claims, comprising: using (140) a message (CPM) of the Collective Perception Message, CPM, type, optionally supplementing (142) a, for example conventional, message of the CPM type, for example with the information element (IE).

13. Method, for example a computer-implemented method, for processing data associated with a radar device (31) for a product (30), comprising: receiving (150) a signaling (SIG) of an interference (INT) with respect to a signal (SIG-RX) received by means of a further radar device (1), operating (152) at least one component (32) of the radar device (31) and / or the product (30) based on the signaling (SIG).

14. The method according to claim 13, wherein the receiving (150) is carried out (150a) using a wireless, for example radio-based, communication interface (KS).

15. The method according to at least one of claims 13 to 14, wherein the signaling (SIG) is carried out using an information element (IE) having one or more bits, wherein, for example, the information element (IE) is evaluated (150b) in a physical layer (32-PHY) of a receiver (32) of the product (30).

16. The method according to at least one of claims 13 to 15, comprising: receiving (155) information, for example second information (I-2), which characterizes at least one property of the interference (INT), for example a level of the interference, wherein for example the second information (I-2) is integrated into an information element (IE) used for the signaling (SIG).

17. The method according to at least one of claims 13 to 16, comprising at least one of the following elements: receiving (160) Information (lM-IM) characterizing at least one measure (M-IM) for reducing or avoiding the interference (INT), and, optionally, locally using (162) the at least one measure (M-IM), and, optionally, transmitting (164) the information (lM-IM) characterizing the at least one measure (M-IM), wherein, for example, the at least one measure (M-IM) characterizes, for example specifies, at least one of the following elements: a) ignoring a spectrum, e.g. an intermediate frequency spectrum, or b) detecting environmental information at at least one specifiable point in time, c) using a specifiable, for example changed, bandwidth, d) using at least one specifiable, for example changed, parameter for a temporal change of a frequency, e.g. radar sweep, e) reducing, for example eliminating, the interference.

18. Method according to at least one of claims 13 to 17, comprising receiving (170) information (1-1) determined by means of the further radar device (1), for example characterizing at least one of the following elements: a) a point cloud (PC), or b) an object (OBJ), and, optionally, using (172) the information (1-1).

19. Device (200; 200') for carrying out the method according to at least one of the preceding claims.

20. Vehicle (10; 10a; 10b) comprising at least one device (200; 200') according to claim 19.

21. Infrastructure facility, for example road infrastructure facility, for example roadside unit, (20), comprising at least one device (200; 200') according to claim 19.

22. System (1000) comprising at least one device (200; 200') according to claim 19 and / or at least one vehicle (10; 10a; 10b) according to claim 20 and / or at least one infrastructure facility (20) according to claim 21.

23. Computer-readable storage medium (SM) comprising instructions (PRG) which, when executed by a computer (202), cause the computer to carry out the method according to at least one of claims 1 to 18.

24. A computer program (PRG) comprising instructions which, when the program (PRG) is executed by a computer (202), cause the computer (202) to carry out the method according to at least one of claims 1 to 18.

25. Data carrier signal (DCS) that transmits and / or characterizes the computer program (PRG) according to claim 24.

26. Use (300) of the method according to at least one of claims 1 to 18 and / or the device (200) according to claim 19 and / or the vehicle (10; 10a; 10b) according to claim 20 and / or the infrastructure facility (20) according to claim 21 and / or the system (1000) according to claim 22 and / or the computer-readable storage medium (SM) according to claim 23 and / or the computer program (PRG) according to claim 24 and / or the data carrier signal (DCS) according to claim 25 for at least one of the following elements: a) signaling (301) the interference (INT) to at least one further product (30), b) exchanging (302) information regarding the interference (INT) with the at least one further product (30), c) informing (303) other products (30) about the interference (INT), d) distributing (304) of information regarding the interference (INT) to one or more further products, e) informing (305) the at least one further product (30) about it,which measure (M-IM) should be taken to reduce or avoid the interference (INT), f) influencing (306) radar devices with respect to at least one parameter for receiving and / or evaluating signals, g) supplementing (307) messages, for example conventional ones, with at least one piece of information regarding the interference (INT), h) exchanging (308) measurements of the first radar device (1), optionally together with information regarding a reliability of the measurements, with the at least one further product (30).,

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