Method and apparatus 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: providing first information characterizing the first radar device, and transmitting the first information to at least one further product via a wireless, for example radio-based, communication interface.

Description

[0001] Description

[0002] title

[0003] Method and apparatus for processing data associated with a radar system

[0004] State of the art

[0005] The disclosure relates to a method for processing data associated with a radar system.

[0006] The disclosure also relates to a device for processing data associated with a radar system.

[0007] Disclosure of the invention

[0008] Exemplary embodiments 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 device, for example a roadside unit, comprising: providing initial information that characterizes the first radar device, and transmitting the initial information via a wireless, for example radio-based, communication interface to at least one further product. In further exemplary embodiments, this enables, for example, a reduction or avoidance of interference between different radar systems.

[0009] In further exemplary embodiments, the wireless communication interface is implemented, for example, by means of a mobile communication system, such as a cellular system. In further exemplary embodiments, the first information characterizes at least one of the following elements: a) the type of the first radar device, for example, describing whether the first radar device is a frequency-modulated continuous wave radar, e.g., FMCW (or, for example, has another type), and / or b) bandwidth, and / or c) chirp duration, and / or d) chirp start, and / or e) carrier frequency. In some examples, the first information may alternatively or additionally characterize at least one of the following elements: a) center frequency, for example, or b) sensing duration, for example, or c) frequency slope.

[0010] In further exemplary embodiments, the method is provided to have at least one of the following elements: a) repeated, for example periodic, transmission of the first information, and / or b) event-based transmission of the first information (e.g., in the case of a mobile device for carrying out the method, reaching a predetermined position or region).

[0011] In further exemplary embodiments, the method includes: transmitting the first information together with at least one of the following elements: a) information characterizing the position of the first radar device, and / or b) information characterizing the speed of the first radar device, and / or c) information characterizing the orientation, for example course, e.g. heading, of the first radar device.

[0012] In further exemplary embodiments, the radar device can, for example, be integrated into a target system such as a vehicle, e.g., a motor vehicle. In these cases, the position, speed, and / or orientation of the first radar device corresponds to, or can be determined based on, the position, speed, and / or orientation of the target system. In further exemplary embodiments, the radar device can, for example, also be provided for, or integrated into, an infrastructure facility, such as a roadside unit.

[0013] In further exemplary embodiments, the method includes the use of a Collective Perception Message (CPM) type message, for example, for transmission. For instance, the CPM message could be a CPM message of a planned or adopted standard, e.g., from the field of V2X (vehicle-to-everything) communication.

[0014] Further exemplary embodiments 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 device, for example a road infrastructure device, comprising: receiving first information characterizing the first radar device via a wireless, for example radio-based, communication interface, and, optionally, using the first information. For example, the first information may have been provided and / or transmitted via a wireless, for example radio-based, communication interface according to exemplary embodiments.

[0015] In further exemplary embodiments, it is provided that the use includes at least one of the following elements: a) influencing the operation of at least one further radar device, and / or b) transmitting the first information, for example via a wireless, for example radio-based, communication interface to at least one further product.

[0016] In further exemplary embodiments, the influencing of the operation of the at least one further radar unit is carried out in such a way that a predefinable, for example minimal, interference with the at least one further radar unit by the first radar unit results. In further exemplary embodiments, the operation of the at least one further radar unit can thus be coordinated with the first radar unit in such a way that, for example, mutual interference is reduced, e.g. minimized.

[0017] Further exemplary embodiments relate to a device for carrying out the method according to the embodiments.

[0018] In other exemplary embodiments, the device can be installed, for example, in a target system such as a vehicle, e.g., a motor vehicle, or in an infrastructure facility, for example, a road infrastructure facility, e.g., a roadside unit.

[0019] Further exemplary embodiments relate to a vehicle comprising at least one device according to the embodiments.

[0020] Further exemplary embodiments relate to an infrastructure facility, for example a roadside unit, comprising at least one device according to the embodiments.

[0021] Further exemplary embodiments relate to a system comprising at least one device according to the embodiments and / or at least one vehicle according to the embodiments and / or at least one infrastructure facility according to the embodiments.

[0022] Other exemplary embodiments relate to a computer-readable storage medium comprising instructions which, when executed by a computer, cause it to execute the method according to the embodiments.

[0023] Further exemplary embodiments relate to a computer program comprising instructions that, when executed by a computer, cause the computer to execute the method according to the embodiments. Further exemplary embodiments relate to a data carrier signal that transmits and / or characterizes the computer program according to the embodiments.

[0024] Further exemplary embodiments relate to the use of the method according to the embodiments and / or the device according to the embodiments and / or the vehicle according to the embodiments and / or the infrastructure facility according to the embodiments and / or the system according to the embodiments and / or the computer-readable storage medium according to the embodiments and / or the computer program according to the embodiments and / or the data carrier signal according to the embodiments for at least one of the following elements: a) exchanging initial information, for example, before a line of sight exists between a product having the first radar device and the at least one further product; b) reducing interference, for example, when operating several radar devices; c) adapting the operation of at least one radar device to at least the first radar device.d) Coordinating the operation of multiple radar systems, for example, vehicle-mounted ones, e) Forwarding initial information, f) Distributing initial information.

[0025] Further features, applications, and advantages of the invention will become apparent from the following description of exemplary embodiments 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, irrespective of their compilation in the claims or their cross-reference, and irrespective of their formulation or representation in the description or in the drawing.

[0026] The drawing shows:

[0027] Fig. 1 schematically shows a simplified flowchart according to exemplary embodiments, Fig. 2 schematically shows a simplified block diagram according to further exemplary embodiments,

[0028] Fig. 3 schematically shows a simplified block diagram according to further exemplary embodiments,

[0029] Fig. 4 schematically shows a simplified flowchart according to further exemplary embodiments,

[0030] Fig. 5 schematically shows a simplified block diagram according to further exemplary embodiments,

[0031] Fig. 6 schematically shows a simplified flowchart according to further exemplary embodiments,

[0032] Fig. 7 schematically shows a simplified block diagram according to further exemplary embodiments,

[0033] Fig. 8 schematically shows aspects of uses according to further exemplary embodiments.

[0034] Exemplary embodiments, Figs. 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 device, for example a roadside unit, comprising: providing 100 (Fig. 1) first information 1-1 that characterizes the first radar device 1, and transmitting 102 the first information 1-1 via a wireless, for example radio-based, communication interface KS to at least one further product 30. In further exemplary embodiments, this enables, for example, a reduction or avoidance of interference between different radar systems 1, 31.

[0035] In further exemplary embodiments, Fig. 2, the wireless communication interface KS is implemented, for example, by means of a mobile communication system, such as a cellular system. In further exemplary embodiments, Fig. 3, the first information 1-1 characterizes at least one of the following elements: a) Type TYPE of the first radar device 1, for example, describing whether the first radar device 1 is a frequency-modulated continuous wave radar, e.g., FMCW, or has another type, and / or b) bandwidth BW, and / or c) chirp duration C-DUR, and / or d) chirp start C-START, and / or e) carrier frequency CF.

[0036] In further exemplary embodiments, Fig. 1, it is provided that the method includes at least one of the following elements: a) repeated, for example periodic, transmission 102a of the first information 1-1, and / or b) event-based transmission 102b of the first information 1-1 (e.g., in the case of a mobile device for carrying out the method, reaching a predetermined position or region).

[0037] In further exemplary embodiments, Fig. 4, the method is provided to: transmit 110 of the first information 1-1 together with at least one of the following elements: a) information characterizing the position of the first radar device 1 l-POS, and / or b) information characterizing the speed of the first radar device 1 lV, and / or c) information characterizing the orientation, for example course, e.g. heading, of the first radar device 1.

[0038] In further exemplary embodiments, Fig. 2, the first radar device 1 can, for example, be installed in a target system such as a vehicle, e.g., a motor vehicle, 10. In these cases, the position and / or speed and / or orientation of the first radar device 1 corresponds to, or can be determined based on, the position and / or speed and / or orientation of the target system 10.

[0039] In other exemplary embodiments, the first radar device can also be used, for example, for an infrastructure facility, such as…

[0040] Roadside unit, for example, a roadside infrastructure facility may be provided, for example, in the infrastructure facility, for example

[0041] It may be integrated into road infrastructure facilities, such as roadside units.

[0042] In further exemplary embodiments, Fig. 4, the method includes: using 112 a message N-CPM of the Collective Perception Message (CPM) type, for example, for transmitting 102, 102a, 102b (Fig. 1). For example, the CPM message N-CPM may be a CPM message of a planned or adopted standard, e.g., from the field of V2X (vehicle-to-everything) communication.

[0043] Fig. 5 schematically shows a simplified block diagram according to exemplary embodiments. It depicts an intersection of two roads with a first vehicle 10a, which, for example, enters the intersection, with a roadside unit 20, which, for example, is stationary in the intersection, and with a number of other vehicles, of which, for the sake of clarity, only two are collectively designated by reference numeral 10b in Fig. 5. Optionally, at least some of the components shown can form a so-called cooperation cluster, for example, CC, at least temporarily.

[0044] Optionally, the first vehicle 10a may be assigned a device 200 for carrying out at least some aspects according to the embodiments. Optionally, the RSU 20 may be assigned a device 200 for carrying out at least some aspects according to the embodiments. Optionally, at least one further vehicle 10b may be assigned a device 200 for carrying out at least some aspects according to the embodiments.

[0045] The arrows a1 in Fig. 5 symbolize a communication link to the RSU 20 that exists at least temporarily, for example wirelessly or radio-based. The arrow a2 symbolizes a sensing system by which the RSU 20 can determine, for example, the properties of the first vehicle 10a.

[0046] In further exemplary embodiments, Fig. 5, the first vehicle 10a e.g. has the first radar device 1 according to Fig. 2, and the device 200 associated with the first vehicle 10a is designed, for example, to carry out the process according to Fig. 1, so that the first vehicle 10a can, by means of its device 200 e.g., transmit the first information 1-1 about its first radar device to the RSU 20.

[0047] In further exemplary embodiments, Fig. 5, the RSU 20 is configured, for example, to receive the initial information 1-1 from the first vehicle 10a and, for example, to distribute or forward it to further vehicles 10b, thereby informing the further vehicles 10b, for example, about the characteristics of the radar system of the first vehicle 10b and enabling them, for example, to adjust the operation of any radar system they may have on hand. Exemplary aspects of this are described below, for example, with reference to Fig. 6.

[0048] Further exemplary embodiments, Fig. 6, relate to a method, for example a computer-implemented method, for processing data associated with a first radar device 1 (Fig. 2) for a vehicle and / or an infrastructure facility, for example road infrastructure, comprising: receiving 150 first pieces of information 1-1, which characterize the first radar device 1, via a wireless, for example radio-based, communication interface KS, and, optionally, using 152 the first pieces of information 1-1. For example, the first pieces of information 1-1 may have been provided and / or transmitted via a wireless, for example radio-based, communication interface according to exemplary embodiments, e.g. Fig. 1.

[0049] In further exemplary embodiments, Fig. 6, it is provided that the use 152 comprises at least one of the following elements: a) influencing 152a the operation of at least one further radar device, and / or b) transmitting 152b the first information 1-1, for example via a wireless, for example radio-based, communication interface to at least one further product.

[0050] For example, the product 30 according to Fig. 2 can receive the first information 1-1, e.g., in the sense of block 150 of Fig. 6, and optionally influence the operation of an associated radar device 31 based on the first information 1-1. Alternatively or additionally, in further exemplary embodiments, the product 30 can forward the first information 1-1 to at least one further product 30', for example, via a further wireless communication interface KS'.

[0051] In further exemplary embodiments, the further product 30 according to Fig. 2 can, for example, symbolize an RSU 20 (Fig. 5), and the further product 30' can, for example, symbolize at least one further vehicle 10b according to Fig. 5.

[0052] In further exemplary embodiments, Fig. 6, it is provided that the influencing 152a of the operation of the at least one further radar device 31 is carried out in such a way that a predefinable, for example minimal, interference of the at least one further radar device 31 by the first radar device 1 results. In further exemplary embodiments, the operation of the at least one further radar device 31 can thus be coordinated with the first radar device 1 in such a way that, for example mutual, interferences are reduced, e.g. minimized.

[0053] Further exemplary embodiments, Fig. 7, relate to a device 200 for carrying out the method according to the embodiments.

[0054] In further exemplary embodiments, the device 200 comprises: a computing device ("computer") 202 having at least one computing core 202a, a storage device 204 associated with the computing device 202 for at least temporary storage of at least one of the following elements: a) data DAT (e.g. data associated with the first information 1-1), b) computer program PRG, for example for carrying out the method according to the embodiments.

[0055] In further exemplary embodiments, the storage device 204 includes volatile memory (e.g., main memory (RAM)) 204a, and / or non-volatile (NVM) memory (e.g., flash EEPROM) 204b, or a combination thereof or with other memory types not explicitly mentioned.

[0056] Other exemplary embodiments relate to a computer-readable storage medium SM, comprising instructions PRG which, when executed by a computer 202, cause it to execute the method according to the embodiments.

[0057] Further exemplary embodiments relate to a computer program PRG, comprising instructions which, when the program PRG is executed by a computer 202, cause it to execute the method according to the embodiments.

[0058] Further exemplary embodiments relate to a data carrier signal DCS, which characterizes and / or transmits the computer program PRG according to the embodiments. The data carrier signal DCS can be transmitted (e.g., sent and / or received) via an optional data interface 206 of the device 200. In further exemplary embodiments, the communication interface KS is implemented by means of the optional data interface 206.

[0059] In further exemplary embodiments, Fig. 7, the device 200 can be installed, for example, in a target system such as a vehicle, e.g. motor vehicle, 10 (Fig. 2), 10a, 10b (Fig. 5), or in an infrastructure facility, for example road infrastructure facility, for example roadside unit (RSU) 20 (Fig. 5).

[0060] Further exemplary embodiments, Fig. 2, relate to a vehicle 10 having at least one device 200 according to the embodiments.

[0061] Further exemplary embodiments, Fig. 5, relate to an infrastructure facility, for example roadside unit, 20 comprising at least one device 200 according to the embodiments.

[0062] Further exemplary embodiments, Fig. 2, relate to a system 1000 comprising at least one device 200 according to the embodiments and / or at least one vehicle 10 according to the embodiments and / or at least one infrastructure facility 30 according to the embodiments. Further exemplary embodiments, Fig. 8, relate to a use 300 of the method according to the embodiments and / or the device 200 according to the embodiments and / or the vehicle 10, 10a, 10b according to the embodiments and / or the infrastructure facility 20, 30 according to the embodiments and / or the system 1000 according to the embodiments and / or the computer-readable storage medium SM according to the embodiments and / or the computer program PRG according to the embodiments and / or the data carrier signal DCS according to the embodiments for at least one of the following elements: a) Exchanging 301 the first information 1-1 ,for example, before a line of sight exists between a product 10 having the first radar device 1 and at least one other product 30, b) reducing 302 interference, for example in the operation of several radar devices 1, 31, c) adapting 303 the operation of at least one radar device 31 to at least the first radar device 1, d) coordinating 304 the operation of several radar devices, for example vehicle-mounted ones, e) forwarding 305 the first information 1-1, f) distributing the first information 1-1.,

[0063] Further exemplary aspects and embodiments are described below, which can be combined individually or in combination with at least one of the exemplary embodiments described above in further exemplary embodiments.

[0064] In further exemplary embodiments, the principle according to the embodiments can be used, for example, for radar systems for motor vehicles 10, 10a, 10b and / or RSLIs 20, for example, to exchange parameters used by FMCW radar systems between the radar systems or associated target systems (vehicle, RSU, ...), whereby, for example, at least some of the target systems involved or their radar systems 1, 31 (Fig. 2) can adjust their operation, for example, to reduce interference, by adjusting one or more parameters of a radar system associated with them.

[0065] In other exemplary embodiments, for example, vehicle-bound

[0066] Radar devices 1 (Fig. 2) modify the modulation type they use (and / or other parameters of a radar operation, e.g., of the FMCW type), for example, to adjust received interference so that it is distributed over, for example, the entire baseband time. In further exemplary embodiments, this allows a comparatively sharp peak value to be obtained in an associated spectrum, which, in further exemplary embodiments, can be removed (e.g., before further processing) to reduce interference. When transmitting, for example, position information from other radar devices, e.g., via the communication interface KS, a receiving radar device can thus associate potential sources of interference with the peak values ​​in the spectrum, thereby reducing interference.

[0067] In further exemplary embodiments, radar systems 1 integrated into vehicles can be used, for example, for autonomous driving or driver assistance functions, e.g., also using imaging techniques. With an expected increase in the number of vehicles 10 with radar system(s) 1, it is advantageously possible, using the principle according to the embodiments, to nevertheless reduce or avoid the interference expected as a result.

[0068] Regarding interference when using, for example, FMCW radar systems, the following cases can be considered in further exemplary embodiments:

[0069] Case 1: The interference is distributed across the entire (e.g., its own) baseband time, which corresponds to a single peak value in a spectrum (e.g., power spectral density). Such interference can lead to false positive detections (e.g., "ghost objects") by the radar system.

[0070] Case 2: The interference occurs, for example, only in a limited portion of the baseband time, meaning that the interference is spectrally distributed over a comparatively large frequency range. This can increase the noise level, which can prevent object detection (e.g., "shadowing" of an object by comparatively strong noise signals). In further exemplary embodiments, the first pieces of information 1-1 can be exchanged, for example, using Collective Perception Messages or Cooperative Perception Messages (CPMs), whereby the first pieces of information 1-1 can be integrated into such messages. In other words, existing or specified CPM messages can be supplemented with the first pieces of information 1-1 according to the embodiments. Alternatively or additionally to CPM messages, in further exemplary embodiments, for example,CAM (Cooperative Awareness Message) messages are also used to transmit the initial information 1-1.

[0071] In further exemplary embodiments, it is possible, for example, for vehicles that receive the first information 1-1, e.g., as part of at least one CPM message, to become aware of possible sources of interference, e.g., in the form of other vehicles with radar systems, and of their distance and / or type of radar signals and / or other parameters of these radar systems potentially considered sources of interference. In further exemplary embodiments, vehicles that receive the first information 1-1, or their associated device 200, can determine whether the potential sources of interference will occur within the field of view of their own radar system.

[0072] In further exemplary embodiments, the transmission 102 of the first information via radio-based data communication advantageously enables early transmission of the first information, e.g., even before interferences actually occur in the area of ​​participating radar equipment 1, 31, which is possible, e.g., because the radio-based data communication does not necessarily require a line of sight for the data communication, but also works, e.g., under nLOS (non-line-of-sight) conditions.

[0073] In further exemplary embodiments, Fig. 5, the following scenario is conceivable: A first vehicle 10a with radar device 1 (Fig. 2) approaches a road intersection in the area of ​​which several other automotive radar devices, e.g., from the other vehicles 10b, are active, and / or at least one radar device of the RSU 20 (e.g., as "infrastructure radar"). In further exemplary embodiments, the RSU 20 is configured, for example, to coordinate possible interferences of the radar devices of vehicles 10a, 10b at least partially, for example, completely. For example, the first vehicle 10a, which, for example, represents a potential source of interference, may in some variants not have a communication interface, and thus, for example, not transmit the initial information 1-1 to other devices, while in other variants the first vehicle 10a may, for example, have the communication interface KS and thus, for example,The first information 1-1 can be transmitted to other facilities 10b, 20. Optionally, the first vehicle can also have a parameterizable radar system, e.g. of the FMCW type.

[0074] The following scenarios can be distinguished in further exemplary embodiments:

[0075] Scenario A): The first vehicle, 10a, as a potential source of interference, has a relatively simple FMCW radar system, which, however, is not configurable or controllable. Furthermore, the first vehicle, 10a, does not have a communication interface.

[0076] Scenario B): The first vehicle 10a, as a potential source of interference, has a parameterizable or controllable radar system, e.g., of the FMCW type. Furthermore, the first vehicle 10a has a communication interface KS and can, for example, execute the sequence according to the embodiments shown in Fig. 1, blocks 100 and 102.

[0077] In scenario A), the RSU 20 can determine the position of the first vehicle 10a, e.g., by means of sensing a2, and / or parameters of the radar signals emitted by the first vehicle 10a, e.g., via cognitive radio functions. Since the RSU 20 does not itself emit radar signals, e.g., in the form of chirps, in some embodiments, the RSU 20 can, for example, continuously receive radar signals, e.g., from the first vehicle 10a, and evaluate them, e.g., using filter banks, e.g., based on matched-filter techniques, thereby enabling the determination of radar parameters of the first vehicle 10a. In further exemplary embodiments, the RSU 20 can, e.g., via a corresponding communication interface, inform other vehicles 10b or their device 200, e.g., about the arrival of the first vehicle 10a, which can be considered an interference source, in the intersection area, and / or about its position and / or its radar parameters.In further exemplary embodiments, the other vehicles 10b can, if necessary, influence the operation of their own radar system based on their respective distance to the first vehicle 10a, for example by changing one or more parameters of their own radar system in order to reduce or avoid interference from the first vehicle 10a. The current state, e.g., operating state, of their own radar system can also be taken into account.

[0078] In scenario B), the RSU 20 can, for example, transmit a CPM message, e.g., with information regarding the intersection area and / or the other vehicles 10b or their radar systems, which the first vehicle 10a can receive and evaluate. Based on this, the first vehicle 10a, e.g., under control by the device 200, can adjust one or more parameters of its radar system 1 (Fig. 2) (e.g., aspects of FMCW modulation, e.g., ramp, e.g., based on the FMCW ramps of the other vehicles 10b), e.g., so that minimal interference for the radar systems of the other vehicles 10b is caused by the radar system 1 of the first vehicle 10a.

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 roadside unit, (20), comprising: providing (100) first information (I-1) characterizing the first radar device (1), transmitting (102) the first information (1-1) via a wireless, for example radio-based, communication interface (CS) to at least one further product (30).

2. Method according to claim 1, wherein the first information (1-1) characterizes at least one of the following elements: a) type (1-TYPE) of the first radar device (1), for example describing whether the first radar device (1) is a frequency-modulated continuous wave, e.g. FMCW, radar device, and / or b) bandwidth (BW), and / or c) chirp duration (C-DUR), and / or d) chirp start (C-START), and / or e) carrier frequency (CF).

3. Method according to at least one of the preceding claims, comprising at least one of the following elements: a) repeated, for example periodic, transmission (102a) of the first information (1-1), and / or b) event-based transmission (102b) of the first information (1-1).

4. Method according to at least one of the preceding claims, comprising: transmitting (110) the first information (1-1) together with at least one of the following elements: a) information characterizing the position of the first radar device (1) (l-POS), and / or b) information characterizing the speed of the first radar device (1) (lV), and / or c) information characterizing the orientation, for example course, e.g. heading, of the first radar device (1) (lH).

5. Method according to at least one of the preceding claims, comprising: using (112) a Collective Perception Message, CPM, - type, (N-CPM), for example for transmitting (102; 102a; 102b; 110).

6. 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, (20), comprising: receiving (150) first information (1-1) characterizing the first radar device (1) via a wireless, for example radio-based, communication interface (CI), and, optionally, using (152) the first information (1-1).

7. The method of claim 6, wherein the use (152) comprises at least one of the following elements: a) influencing (152a) the operation of at least one further radar device (31), and / or b) transmitting (152b) the first information (1-1), for example via a wireless, for example radio-based, communication interface (CS). 1 ) to at least one other product (30').

8. Method according to claim 7, wherein the influencing (152a) of the operation of the at least one further radar device (31) is carried out in such a way that a predefinable, for example minimal, disturbance of the at least one further radar device (31) by the first radar device (1) results.

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

10. Vehicle (10; 10a) comprising at least one device (200) according to claim 9.

11. Infrastructure facility, for example road infrastructure facility, for example roadside unit, (20) comprising at least one device (200) according to claim 9.

12. System (1000) comprising at least one device (200) according to claim 9 and / or at least one vehicle (10; 10a) according to claim 10 and / or at least one infrastructure facility (20) according to claim 11.

13. Computer-readable storage medium (SM) comprising instructions (PRG) which, when executed by a computer (202), cause it to execute the method according to at least one of claims 1 to 8.

14. Computer program (PRG) comprising instructions which, when the program (PRG) is executed by a computer (202), cause it to execute the method according to at least one of claims 1 to 8.

15. Data carrier signal (DCS) that transmits and / or characterizes the computer program (PRG) according to claim 14.

16. Use (300) of the method according to at least one of claims 1 to 8 and / or the device (200) according to claim 9 and / or the vehicle (10; 10a) according to claim 10 and / or the infrastructure facility (20) according to claim 11 and / or the system (1000) according to claim 12 and / or the computer-readable storage medium (SM) according to claim 13 and / or the computer program (PRG) according to claim 14 and / or the data carrier signal (DCS) according to claim 15 for at least one of the following elements: a) exchanging (301) the first information (1-1), for example, before a line of sight exists between a product (10) comprising the first radar device (1) and the at least one further product (30), b) reducing (302) interference, for example, when operating several radar devices (1, 31), c) adjusting (303) the operation of at least one radar device (31) at least the first radar installation (1),d) Coordinating (304) the operation of several radar installations, for example vehicle-mounted ones (1, 31), e) Forwarding (305) the initial information (1-1), f) Distributing (306) the initial information (1-1).

Images