Method for operating a transceiver device, transceiver device, vehicle, computer program, and computer-readable storage medium

Abstract

The invention relates to a method for operating a transceiver device (1), comprising the following steps to be carried out by the transceiver device (1): transmitting an impulse radio signal (5) at a point in time; receiving a reflected signal of the transmitted impulse radio signal (5); generating a channel impulse response, which describes the reflected signal according to a path delay; determining a self-interference distance range of the path delay of the channel impulse response, wherein the reflected signal of the self-interference distance range describes a self-interference signal of the transceiver device (1); determining at least one target distance range of the path delay of the channel impulse response, wherein the reflected signal of the target distance range describes a signal of the target distance range; ascertaining a signal component of the signal of the target distance range correlated with the self-interference signal by means of an operator, wherein the operator maps the self-interference signal onto the correlated signal component of the signal of the target distance range; ascertaining a signal component of the signal uncorrelated with the self-interference signal by removing the signal component of the signal correlated with the self-interference signal by means of a correlation cancellation filter.

Description

[0001]202304669 1 Description Method for operating a transceiver device, transceiver device, vehicle, computer program and computer-readable storage medium The invention relates to a method for operating a transceiver device, a transceiver device, a vehicle comprising a transceiver device, a computer program and a computer-readable storage medium. Monostatic radar transceiver devices, in which self-interference occurs, generally have a blind spot near a sensor of the radar transceiver device. Targets that are very close to the sensor cannot be detected. The range at which targets are detected is therefore limited by a certain minimum range. This means that only targets that are located at distances from the sensor above the minimum range can be detected by the sensor.Targets closer than the sensor's minimum range cannot be detected. This means the sensor is blind in the near field. The reason for this is that self-interference is very strong in r distance ranges, known as bins, around the sensor's near field. This results in a very low signal-to-noise ratio, making it impossible to detect a received radar echo from the target, the so-called target signal, at these distances. Normally, DC filters suppress this interference, but there is also random noise in the transmitted signal that cannot be suppressed by a DC filter. Therefore, the signal-to-noise ratio in the sensor's near field is also very low. Furthermore, this noise can itself be mistakenly identified as a moving target and obscure real targets.202304669 2 In monostatic radar transceiver devices, self-interference leads to strong unwanted signals that make the identification of nearby targets difficult or impossible. When the transceiver operates simultaneously in transmit and receive modes, the received signal has a strong component originating from the pulse radio signal. For a target located near the transceiver, this self-generated component (especially noise) interferes with the target signal reflected from the target and can ultimately obscure the target signal. In monostatic radar transceiver devices, targets near the sensor often cannot be detected, resulting in a blind zone near the sensor. It is an object of the present invention to provide a method that filters out a self-interference signal from a signal. This object is achieved by the subject matter of the independent claims.Advantageous further developments of the invention are described by the dependent claims, the following description, and the figures. A first aspect of the invention relates to a method for operating a transmitter-receiver device. The transmitter-receiver device can, for example, be a radar device, which can be configured as a monostatic radar transmitter-receiver device. The transmitter-receiver device can be designed to detect the surroundings of a vehicle in order to, for example, determine distances of target objects to the transmitter-receiver device and / or detect predetermined movement patterns of the target objects in the vehicle's surroundings. In the method, it is provided that scanning processes are carried out by the transmitter-receiver device. In each scanning process, a pulse radio signal is emitted by the transmitter-receiver device at a specific time.The respective pulse radio signal is transmitted into the environment to be sampled during the respective sampling process. In a further step, the transceiver receives a signal of the transmitted pulse radio signal. The signal of the transmitted pulse radio signal may be reflected by target objects in the environment to be sampled during the respective sampling process. In a further step, the transceiver generates a channel impulse response that describes the signal as a function of a path delay. The channel impulse response comprises distance ranges, so-called bins, which are assigned to specific path delays. In a further step, a self-interference distance range of the path delay of the channel impulse response is determined.In other words, the channel impulse response describes a signal that includes a self-interference signal in addition to the reflected target signal. This self-interference signal can disturb the reflected target signals in at least some of the path delay distance ranges. The self-interference signal particularly affects distance ranges associated with relatively low path delays, thus pertaining to the near side of the transceiver. One distance range may be especially affected by the self-interference signal. For this distance range, it can be assumed that the corresponding signal is defined by the self-interference signal. This distance range can be chosen as the self-interference distance range, and the signal of the self-interference distance range can be defined as the self-interference signal.202304669 4 The aforementioned self-interference distance range of the path delay can be predefined or determined by the transceiver device according to a predefined procedure. In a further step, at least one target distance range of the path delay of the channel impulse response is determined. The signal of the target distance range includes both the reflected target signal of the associated path delay and a self-interference signal. In other words, the transceiver device selects at least one target distance range of the path delay. The signal of the target distance range includes a signal component that is based on self-interference and correlates with the self-interference signal. The signal has a signal component that is attributable to the reflected target signal of the target distance range, which does not correlate with the self-interference signal.The aim of the method is to at least reduce the portion of the signal attributable to self-interference. To this end, a further step involves determining the signal component of the target range range that is correlated with the self-interference signal using an operator. In other words, the signal includes the signal component that correlates with the self-interference signal. This signal component correlated with the self-interference signal is determined by the transmitter-receiver device using the operator, which can also be referred to as the filter core. The operator is designed to map the self-interference signal of the self-interference range range onto the correlated signal component of the target range range range.A further step involves identifying a signal component uncorrelated with the self-interference signal by removing the component correlated with the self-interference signal using a correlation cancellation filter. In other words, the aim is to determine the signal component that is not correlated with the self-interference signal and is therefore attributable to the reflected target signal. The uncorrelated signal component is determined by filtering out the component correlated with the self-interference signal using the correlation cancellation filter. The self-interference caused by the transmitted pulse radio signal is the signal that is detected first.While reflected target signals caused by reflections of the pulsed radio signal from target objects are generally detected later, since these target objects are at a certain distance from the transmitter-receiver device, self-interference affects the signals due to a limited bandwidth. This means that a portion of the self-interference is induced in the signal, so that the signal in question includes both the reflected target signal and the self-interference signal. This signal component, however, is correlated with the previously measured self-interference. If the characteristics of the self-interference are known, the portion of the signal attributable to its influence can be removed.This means that by calculating the characteristics of self-interference, including self-induced noise, based on an early distance range whose associated signal does not yet contain the target signal, the signal can be enhanced so that the proportion of the target signal increases while the self-interference signal is reduced. Knowing the self-interference allows it to be removed from the signal to preserve the target signal, even if the self-interference and the target signal are in the same frequency range. The signal-to-noise or signal-to-interference ratio can be improved. Furthermore, no additional measurements are required, as the self-interference characteristics are derived from the same channel impulse responses acquired for detecting the moving target objects.202304669 6 The invention offers the advantage that the impairment of the target signal by self-interference can be reduced. A further development of the invention provides that the method includes adapting the operator of a subsequent sampling process based on the uncorrelated signal component of the signal from the sampling process by means of an adaptation algorithm. In other words, it is provided that the operator is adapted for the respective sampling process by the adaptation algorithm. The correlated signal component of the signal, which was determined in the preceding sampling process, serves as the basis for adapting the operator. A further development of the invention provides that the method includes pre-filtering the channel impulse response of the sampling process by means of a pre-filter.In other words, before determining the self-interference signal and removing the correlated signal component, the channel impulse response of the respective sampling process is pre-filtered. The pre-filter is based on a pre-filtered channel impulse response from a previous sampling process. In other words, the channel impulse response is pre-filtered depending on the pre-filtered channel impulse response of the previous sampling process. The method includes determining the pre-filter for pre-filtering the channel impulse response of the following sampling process based on the pre-filtered channel impulse response of the current sampling process. A further development of the invention provides that the method includes determining the self-interference distance range by the transceiver device. In other words, the self-interference distance range is not statically predetermined.Instead, the transceiver determines the self-interference range according to a predetermined criterion. A further development of the invention provides that the correlated signal component of the signal is determined by scaling the self-interference signal by the operator. In other words, the operator is configured to scale the self-interference signal to determine the correlated signal component. Another further development of the invention provides that the correlated signal component of the signal is determined by convolution of the self-interference signal by the operator. In other words, the operator is a convolution operator. A second aspect of the invention relates to a transceiver device. The transceiver device can, for example, be configured as a monostatic radar transceiver.The transceiver is configured to transmit a pulse radio signal of a sampling process at a given time. The transceiver is configured to receive a signal of the transmitted pulse radio signal and to generate a channel impulse response that describes the received signal as a function of a path delay. The transceiver is configured to determine a self-interference distance range of the path delay of the channel impulse response. The signal of the self-interference distance range describes a self-interference signal of the transceiver. The transceiver is designed to determine at least a target distance range of the path delay of the channel impulse response. The reflected signal of the target distance range describes a signal of the target distance range.The transceiver device is designed to determine, by means of an operator, a signal component of the target range signal that is correlated with the self-interference signal. The operator maps the self-interference signal onto the correlated signal component of the target range signal. The transceiver device is configured to determine a signal component of the signal that is uncorrelated with the self-interference signal by removing the signal component correlated with the self-interference signal. A third aspect of the invention relates to a vehicle that has a transceiver device. A fourth aspect of the invention relates to a computer program comprising commands that cause the aforementioned transceiver device to perform the process steps as described above by way of example.A fifth aspect of the invention relates to a computer-readable medium on which the aforementioned computer program is stored. The computer-readable medium can be implemented as a data storage device. To perform the described steps, a processor circuit can be provided which includes programming or software comprising program instructions that, upon execution of the program instructions, cause the processor circuit to carry out an embodiment of the method. For this purpose, the processor circuit can include at least one microprocessor and / or microcontroller. The program instructions can be stored in a data storage device of the processor circuit.The invention also includes further developments of the inventive transmitter-receiver device, the inventive computer program, and the inventive computer-readable medium, which have features already described in connection with the further developments of the inventive method. For this reason, the corresponding further developments of the inventive transmitter-receiver device, the inventive computer program, and the inventive computer-readable medium are not described again here. For applications or situations that may arise with the method and are not explicitly described here, it may be provided that, according to the method, an error message and / or a prompt for user feedback is issued and / or a default setting and / or a predetermined initial state is set.The invention also includes combinations of the features of the described embodiments. An exemplary embodiment of the invention is described below. Figure 1 shows a schematic representation of a process for operating a transceiver device; Figure 2 shows a schematic representation of the effect of filtering a channel impulse response; Figure 3 shows a schematic representation of adaptive correlation cancellation; Figure 4 shows an implementation for noise and interference suppression of a continuous stream of impulse responses; and Figure 5 shows a schematic representation of a vehicle that has a transceiver device. The exemplary embodiment described below is a preferred embodiment of the invention.In the exemplary embodiment, the described components of the embodiment each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiment can also be supplemented by further features of the invention already described. In the figures, functionally identical elements are provided with the same reference numerals. Fig. 1 shows a schematic representation of a process for operating a transceiver device. The transceiver device 1 can be configured as a monostatic radar transceiver device, which can be arranged on a vehicle 2 for distance determination.In a first step S1 of the method, a pulse radio signal 5 can be transmitted by the transmitter-receiver device 1 into the vicinity of a vehicle 2 at a given time during a sampling process. The transmitter-receiver device 1 can receive a signal x of the transmitted pulse radio signal 5 and determine a channel impulse response for the respective sampling process, which can describe the received signal x as a function of a path delay. The channel impulse response ^. ^ can be represented by a matrix, where coefficients ^ ^,^ the channel impulse response in the distance domain ^ and at time ^ with ^ = be displayed. In a second step S2, the transmitter-receiver device 1 can pre-filter the channel impulse response of the sampling process using a pre-filter. The channel impulse responses can first be subjected to pre-filtering. This pre-filtering serves to remove out-of-band interference, out-of-band noise, and other interference components. The pre-filter can be based on a pre-filtered channel impulse response from a previous sampling process (202304669 11) of the current sampling process. By pre-filtering the channel impulse response of the current sampling process, the pre-filtered channel impulse response of the current sampling process can be determined. Based on the pre-filtered channel impulse response of the current sampling process, the transmitter-receiver device 1 can determine the pre-filter for pre-filtering the channel impulse response of the sampling process following the current sampling process.In a further step S3 of the procedure, the transmitter-receiver device 1 can determine a distance range of the channel impulse response, which is defined as the self-interference distance range ^̂. The self-interference distance range ^̂ can either be determined by an algorithm or be fixed a priori. The self-interference distance range ^̂ can, for example, be the distance range in which a self-interference signal can exhibit a maximum. That is, the self-interference signal ^⃗ results from the ^̂-th line of ^. ^ . In a further step S4, the transmitter-receiver device 1 can determine at least one target distance range of the path delay of the channel impulse response, the signal of which is to be filtered. The reflected signal of the target distance range can include a target signal of the target distance range. In a further step S5 of the method, the transmitter-receiver device 1 can determine a signal component of the signal of the target distance range that is correlated with the self-interference signal by means of an operator. The operator can map the self-interference signal to the correlated signal component of the signal of the target distance range. The operator can, for example, describe a scaling or a convolution.Using the correlated signal component of the signal, the transmitter-receiver device 1 can remove the correlated signal component from the signal by means of a correlation cancellation filter, so that only the uncorrelated signal component remains. In other words, the correlated signal component is filtered out. The method can include a loop that passes through a specific interval of distance ranges. ^ until ^ ^ iterates. Starting at j = ^ ^ The j-th line of ^ will be ^ The vector !⃗ is selected and formed: !⃗ = ^^^,^ ^^,^ … ^^,^^. After selecting ^⃗ and !⃗, correlation cancellation is performed in the distance domain^ with respect to ^̂, resulting in a filtered impulse response in the distance domain j. The loop is executed for all ^ = ^^, ^^ + 1, ... , ^^. If computing and memory resources allow, correlation cancellation can be applied to the distance domains ^ ^until ^ ^ to be applied all at once. If you select the lines ^ ^ until ^ ^ of ^ ^ , thus the matrix ⋯ is obtained The transceiver device 1 can determine in a further step S6 whether all target distance ranges have been filtered. If this is not yet the case, the transceiver device 1 can apply the described steps S4 and S5 for the relevant target distance ranges. If the method has been applied to all target distance ranges of the scanning process, the channel impulse response of the scanning process, cleaned by the correlated components, can be provided to a control unit 4 of the vehicle 2 in a step S7. Fig. 2 shows a schematic representation of the effect of filtering a channel impulse response. 202304669 13 The left channel impulse response ^ ^The signal shown is disturbed by self-interference. As is known from correlation cancellation, a self-interference signal, distinct from the signal itself, is needed to cancel this self-interference. This self-interference signal is derived from the same channel impulse response. ^ This is determined by selecting a previous distance range in which the target signal does not occur. It is therefore assumed that the self-interference component affecting the signal can be reduced or removed based on the self-interference signal. In the left channel impulse response shown, the signal of the distance range ^ is used as the self-interference signal. ^( selected, while the target signal is expected to be within the distance range ^ ^)appears. An output signal *= ! − !, = ! − ℎ{^} contains the part of the target signal that is not correlated with the self-interference signal ^, i.e., the self-interference component that affects the target signal ! is suppressed when the target signal ! and the self-interference signal ^ are fed to a correlation suppressor. The portion of the target signal ! that is correlated with the self-interference signal ^ is estimated by ! , = ℎ{^} represented. ℎ{∙} denotes an operator applied to the self-interference signal ^ that maps the self-interference signal ^ to the estimate !. This operator can be a scaling such as 202304669 14 ℎ : ^ → ℎ ^ or a convolution such as ℎ: ^ → ℎ ⋆ ^. The operator can also be another linear or nonlinear operator. In the following, ℎ is also referred to as the filter kernel. Fig. 2 shows the concept of self-induced noise cancellation using an example. The distance range ^ ^(is selected for characterizing the self-interference signal. To determine the influence of the self-interference signal on the distance range ^ ^) To remove the self-interference component of a channel impulse response, both signals are fed to a correlation suppression filter. The signal is then freed from the component that correlates with the self-interference signal. This demonstrates that the self-interference of a channel impulse response can be reduced by selecting an earlier distance range from the same channel impulse response, in which the self-interference signal, but not the target signal, is observed. FIG 3 shows a schematic representation of adaptive correlation cancellation. At each new time point ^, the filter kernel h is modified by an adaptive algorithm. For the non-causal case, all channel impulse responses for a given observation period are known. The observation period comprises ^ = Samples. Then !4⃗ = ^!,^ !,^ … !,^^ represents the vector of estimated sample values, !⃗ = ^!^!^ … !^^^ the vector of sample values ​​in the observed distance range, and ^⃗ = ^^^^^ … ^^^^ the vector of sample values ​​in the self-interference distance range. The superscript 5 denotes the transpose. The formula Describes the projection of !⃗ onto the subspace spanned by ^⃗ and normalized by the energy of the interference signal ^⃗ 6 ^⃗. The superscript 7 denotes the Hermitian transpose. Typically, not all channel impulse responses are available. The filter core ℎ, which can be implemented as a digital filter, can then be updated during operation. FIG 3 shows a stream of input samples! ^ and ^ ^ For each sample ^ an estimate is made! ^ calculated and subtracted from the signal ! to obtain the output signal * ^to obtain. Based on the output signal * ^ The filter kernel ℎ is updated by an adaptive algorithm. The updated filter kernel ℎ is then applied to the next sample ^ +1. FIG 4 shows an implementation for noise and interference suppression of a continuous stream of impulse responses. When a new channel impulse response ^^⃗ = ^^^,^ ^^,^ … ^^,^^ is received, it is passed to the pre-filtering stage (A1). The pre-filtering output of the previous time 8 ^9^ will therefore be in relation to ^ ^ ⃗ and updates the previous filter state ^ − 1. The new filter state at ^ is detected and applied at the next time. 202304669 16Then the sampling ^^ = ^^,̂^ in the distance range of the noise ^̂ is selected (A2). With the last sampling ^ ^ The energy of the self-interference signal is calculated according to Where the energy of the self-interference signal for the period 8^, … , 8^9^ describes and = ^∗ ^^^ applies. The superscript ∗ denotes the complex conjugate (A3). When ^ = ^^, the filtering is applied to the first distance range ^^ from ^^ , ^^ + 1, … ^^ (A4). The corresponding sample !^ = ^^,^ is selected in step A5. Its contribution to the projection of !⃗ onto ^⃗ is determined in step A6 according to taken into account, whereby the projection for the period 8^, … , 8^9^ describes and From the preceding formulas, the estimated sampling rate is obtained in step A6, which correlates with the noise reference ^⃗ according to 202304669 17 Thus, the CIR scanning ^ ^,^ replaced by Once all distance ranges ^ ^ until ^ ^Once the samples have been processed, the filtered impulse response is output, and the calculation is repeated for the next sample. The same cycle can be repeated for a limited number D of previous samples. Then the energy of the self-interference signal changes according to u. nd The projection changes according to the equation for D ≤ ^ and D > ^. The implementation in FIG. 4 is not limited to a specific type of noise reduction. Instead of the formulas mentioned, the correlation can, for example, be estimated by a digital filter with a finite impulse response (FIR) or infinite impulse response (IIR), whose filter coefficients are updated with each new sample. ^⃗ can be adapted. FIG 5 shows a schematic representation of a vehicle having a transceiver device. 202304669 18 The transceiver device 1 can be arranged at the rear of a vehicle 2 to detect targets 3 in the rear area. The transceiver device 1 can transmit pulse radio signals 5. The pulse radio signal 5 can be reflected at the target 3 as a target signal. A signal x that can be received by the transceiver device 1 can include the target signal as well as an interference signal. The transceiver device 1 can filter the signal x to attenuate the interference signal in the signal x and provide a filtered channel impulse response to a control device 4. Based on the filtered channel impulse response, the control device 4 can, for example, unlock a tailgate of the vehicle 2.Monostatic radar transceivers affected by self-interference typically have a blind spot near the sensor. Targets 3 that are very close to the sensor cannot be detected. The area in which targets 3 are detected is therefore limited to a certain minimum range, meaning that only targets 3 at distances beyond this minimum range can be detected. Targets 3 that are closer than the minimum range cannot be detected, resulting in a near-area blind spot for the sensor. This is because the interference is very strong and extends over several near-areas, so the signal-to-noise ratio is very low, and detection of the received radar echo signal from the target 3 is not possible in these near-areas.Normally, DC filters suppress this interference; however, the transmitted signal also contains random noise that cannot be suppressed by a DC filter. Therefore, the signal-to-noise ratio in the sensor's immediate vicinity is also very low. Furthermore, the noise itself can be detected as a moving target 3 and obscure actual targets 3. In monostatic radar transceivers, self-interference leads to strong unwanted interference signals that make identifying targets 3 in the immediate vicinity difficult or impossible. When the transceiver operates simultaneously in transmit and receive modes, the received signal has a strong component originating from the pulse radio signal 5.For a target 3 located near the transceiver, this self-interference component (especially the noise) interferes with the target signal reflected from the target 3 and can eventually obscure the target signal. With monostatic radar, targets 3 near the sensor often cannot be detected, resulting in a blind spot near the sensor. The self-interference caused by the pulse radio signal 5 is the signal that is detected earliest; target signals are usually detected later because the distance to the sensor does not disappear. Due to the limited bandwidth, the self-interference affects the signals. That is, a portion of the self-interference is induced into the signal. However, this portion is correlated with the previously measured actual self-interference. If the characteristics of the self-interference are known, its component that affects the signal can be removed.This means that by calculating the characteristics of self-interference, including self-induced noise, based on an early distance range where no target signal is present, the signal itself can be improved while reducing self-interference. The method is particularly suitable for monostatic RADAR applications such as obstacle detection, footstep or gesture detection, UWB, child presence detection, and signal processing in general. Overall, the example demonstrates how a method for suppressing self-induced noise in channel impulse responses can be provided. 202304669 20 Reference List 1 Transceiver 2 Vehicle 3 Target 4 Control Unit 5 Pulse Radio Signal S1-S7 Steps A1-A6 Steps.

Claims

202304669 21 Claims 1. Method for operating a transceiver device (1), comprising the following steps to be performed by the transceiver device (1): - transmitting a pulse radio signal (5) at a given time, - receiving a reflected signal of the transmitted pulse radio signal (5), - generating a channel impulse response that describes the reflected signal as a function of a path delay, - determining a self-interference distance range of the path delay of the channel impulse response, wherein the reflected signal of the self-interference distance range describes a self-interference signal of the transceiver device (1), - determining at least one target distance range of the path delay of the channel impulse response, wherein the reflected signal of the target distance range describes a signal of the target distance range,- Determining a signal component of the target range signal correlated with the self-interference signal by means of an operator, wherein the operator maps the self-interference signal to the correlated signal component of the target range signal, and - Determining a signal component of the signal uncorrelated with the self-interference signal by removing the signal component correlated with the self-interference signal by means of a correlation cancellation filter.

2. Method according to claim 1, comprising the following steps to be performed by the transmit-receiver device (1): - Matching the operator of a subsequent sampling operation based on the uncorrelated signal component of the signal of the sampling operation by means of a matching algorithm.

3. Method according to claim 1 or 2, comprising the following steps to be performed by the transmit-receiver device (1): 202304669 22 - Pre-filtering the channel impulse response of the sampling process n by means of a pre-filter, wherein the pre-filter is based on a pre-filtered channel impulse response of the preceding sampling process, - determining the pre-filter for pre-filtering the channel impulse response of the following sampling process based on the pre-filtered channel impulse response of the sampling process.

4. Method according to any of the preceding claims, comprising the following step to be performed by the transmit-receiver device (1): Determining the self-interference distance range.

5. Method according to any of the preceding claims, characterized by the fact that the correlated signal component of the signal is determined by scaling the self-interference signal by the operator. 6.A method according to any of the preceding claims, characterized in that the correlated signal component of the signal is determined by convolution of the self-interference signal by the operator.

7. Transceiver device (1), characterized in that the transceiver device (1) is configured to: - transmit a pulse radio signal (5) at a given time, - receive a reflected signal of the transmitted pulse radio signal (5), - generate a channel impulse response that describes the reflected signal as a function of a path delay, - determine a self-interference distance range of the path delay of the channel impulse response, wherein the reflected signal of the self-interference distance range describes a self-interference signal of the transceiver device (1). 202304669 23 - to determine at least one target distance range of the path delay of the channel impulse response, wherein the reflected signal of the target distance range describes a signal of the target distance range, - to determine a signal component of the signal of the target distance range correlated with the self-interference signal by means of an operator, wherein the operator maps the self-interference signal to the correlated signal component of the signal of the target distance range, - to determine a signal component of the signal uncorrelated with the self-interference signal by removing the signal component of the signal correlated with the self-interference signal.

8. Vehicle (2), comprising a transceiver device (1) according to claim 7.

9. Computer program, comprising instructions that cause the transceiver device (1) according to claim 7 to perform the method steps according to at least one of claims 1 to 6. 10.Computer-readable medium on which the computer program according to claim 9 is stored.

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