Method and apparatus for processing data associated with a radar device

Abstract

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

Description

[0001] R.413979

[0002] - 1 -

[0003] Description

[0004] Title

[0005] Method and Apparatus for Processing Data Associated with a Radar Device

[0006] Technical Field

[0007] The disclosure relates to a method for processing data associated with a radar device.

[0008] The disclosure further relates to an apparatus for processing data associated with a radar device.

[0009] Summary

[0010] Some examples relate to a method, for example a computer-implemented method, for processing data associated with a radar device for a mobile unit, e.g., vehicle, and / or for an infrastructure unit, e.g., road infrastructure unit, e.g., roadside unit, comprising: determining a presence of a management node for controlling medium access related to radar signal transmissions, and, based on the determining, controlling an operation of the radar device. In some examples, this may enable to flexibly adapt an operation of the radar device, e.g., to changing conditions in the environment of the radar device, such as, e.g., the presence or absence of the management node. The method may be understood as a method, specifically of operating or controlling a radar device, carried out by an apparatus comprised by the radar device.

[0011] In some examples, controlling medium access may comprise at least one of allocation or assigning resources related to radar signal transmissions and / or receptions.

[0012] In some examples, the radar device may be configured to perform sensing, e.g., by performing at least one of: a) transmitting sensing signals, e.g., radar signals R.413979

[0013] - 2 - for sensing, or b) receiving at least a portion of the sensing signals that may, e.g., interact (e.g., by scattering and / or reflection) with one or more objects in an environment of the radar device.

[0014] In some examples, controlling the medium access related to radar signals may comprise at least one of: a) controlling the medium access related to radar signal transmissions, or b) controlling the medium access related to radar signal receptions, or c) controlling the medium access related to radar signal transmissions and receptions.

[0015] In some examples, the radar device may be configured for wireless communication with at least one further device, e.g., at least one further radar device, e.g., according to or based on at least one planned or accepted standard such as, e.g., 4G or 5G or 6G, or another planned or accepted standard, e.g., using a wireless, for example cellular, communication system, for example of the 5G type or 6G or based on 5G or 6G or the like.

[0016] In some examples, a data exchange between the radar device and the at least one further device may at least temporarily be performed via a network device, e.g., base station, e.g., gNB, of the wireless communication system.

[0017] In some examples, a data exchange between the radar device and the at least one further device may at least temporarily be performed via a direct device-to- device communication, e.g., using a sidelink interface. In some examples, this enables device-to-device communication even if not coverage of the network device is given.

[0018] In some examples, the radar device may, for example, be designed to carry out information exchange with one or more further devices, for example with one or more further radar devices, via a wireless, for example cellular, communication system, for example of the 5G type or 6G or based on 5G or 6G or the like, e.g., to coordinate an operation of the radar devices, e.g., regarding sensing.

[0019] In some examples, the radar device may be configured to perform at least one radar method, for example for sensing, using signals of the wireless, for example cellular, communication system, for example of the 5G type or 6G or based on 5G or 6G or the like. R.413979

[0020] - 3 -

[0021] In some examples, the radar device may at least temporarily use signals of a wireless communication system for perform sensing, such as, e.g., reference signals of a wireless communication system according to some planned or accepted standard.

[0022] In some examples, however, the radar device may at least temporarily use specific radar signals for performing sensing, e.g., other than signals of a wireless communication system. In some examples, FMCW-type signals may be used for sensing by the radar device. In some examples, controlling the medium access related to radar signals may comprise controlling the medium access related to radar signals for sensing using FMCW signals.

[0023] In some examples, the radar device may be configured for performing integrated communication and sensing, ICAS. In some examples, a same transmitter and / or receiver, e.g., transceiver equipment, may be used for both communication and sensing, e.g., for ICAS.

[0024] In some examples, the determining comprises at least one of: a) determining that the management node is present, e.g., in an environment of the radar device, or b) determining that the management node is not present, e.g., in the environment of the radar device.

[0025] In some examples, the method comprises listening to a communications channel, determining whether a signal, e.g., an advertisement message, of the management node (e.g., a management node that may be present in the environment of the radar device) can be received via the communications channel. In other words, in some examples, a signal provided, e.g., transmitted, by the management node may characterize or represent the advertisement message.

[0026] In some examples, the communications channel may be a predetermined communications channel provided for transmission of advertisement messages. In some examples, the predetermined communications channel may be provided by at least one of: a) standardization, or b) configuration. R.413979

[0027] - 4 -

[0028] In some examples, advertisement messages may be used by at least one management node, e.g., to notify one or more radar devices in an environment, e.g., a coverage area, of the management node, of the presence of the management node. In some examples, the contents of advertisement messages may be determined by at least one of: a) standardization, or b) configuration. Further details related to advertisement messages according to some examples are explained further below.

[0029] In some examples, the method comprises: if the determination yields that the management node is not present, e.g., no management node is present in the environment, e.g., of the radar device, assuming the role of the management node for controlling medium access related to radar signal transmissions, sending, for example repeatedly sending, for example periodically sending, advertisement messages, e.g., to notify at least one further device of the presence of a management node. In some examples, this enables to flexibly provide a management node, e.g., for resource allocation related to radar signal transmissions, e.g., without providing a static and / or stationary management node. Rather, using the principle according to the disclosure, in some examples, a radar device may at least temporarily assume the role of the management node, e.g., if required, e.g., if no (other) management node is (e.g., already) present in the environment.

[0030] In some examples, the advertisement message comprises at least one of: a) a position of the radar device or a unit associated with the radar device, or b) a velocity of the radar device or a unit associated with the radar device, or c) an orientation of the radar device or a unit associated with the radar device, d) a coverage area of the radar device. In some examples, optionally, further information may be comprised in the advertisement message.

[0031] In some examples, the method comprises: receiving one or more requests for radar resources, e.g., from one or more further radar devices, processing the one or more requests. Thus, in some examples, the radar device, which may temporarily act as a management node, may manage the radar resources, e.g., based on the received requests.

[0032] In some examples, processing the one or more requests comprises at least one of: a) assigning resources for radar signal transmissions (and / or receptions) R.413979

[0033] - 5 - based on the one or more requests to at least one of: a1) the radar device, or a2) the one or more further radar devices, or b) transmitting information characterizing assigned resources for radar signal transmissions (and / or receptions), e.g., to at least one of the one or more further radar devices, wherein for example at least one of A) the assigning or B) the transmitting is performed AA) repeatedly, for example periodically, and / or BB) event-based.

[0034] In some examples, the method comprises: if the determination yields that the management node is present, sending, for example repeatedly sending, for example periodically sending, a request for radar resources to the management node, receiving information characterizing resources for radar signal transmissions assigned to the radar device, wherein for example the request comprises at least one of: a) a position of the radar device or a unit associated with the radar device, or b) a velocity of the radar device or a unit associated with the radar device, or c) an orientation or a heading of the radar device or a unit associated with the radar device, d) a number of radar sensors of the radar device, or e) information characterizing a type of radar, e.g., characterizing at least one of e1) short range radar, or e2) mid-range radar, or e3) long range radar, or f) information characterizing at least one radar capability, such as, e.g., at least one of f1) sweep bandwidth, or f2) hardware capability, or g) information characterizing interference, e.g., currently experienced interference, e.g., from further, e.g., neighboring, radar devices, e.g., characterizing at least one of g1) a frequency band associated with the interference, or g2) a pattern of interference.

[0035] In some examples, the method comprises: using resources for at least on of: a) radar signal transmissions, e.g., for sensing, or b) radar signal receptions, e.g., for sensing.

[0036] In some examples, the method comprises: determining, e.g., repeatedly determining, e.g., periodically, e.g., after expiry of a predetermined threshold time, determining, whether the radar device has the role of the management node, and, based on the determining, controlling an operation of the radar device, wherein for example, if the determining yields that the radar device has the role of the management node, the method comprises performing at least one of the aspects of A) receiving one or more requests for radar resources, e.g., from one or more further radar devices, or B) processing the one or more requests, wherein for example, if the determining yields that the radar device R.413979

[0037] - 6 - does not have the role of the management node, the method comprises performing at least one of the aspects of C) determining a presence of a management node for controlling medium access related to radar signal transmissions, or D) based on the determining, controlling an operation of the radar device.

[0038] In some examples, the method comprises: determining whether an advertisement message of another management node is received, and, if an advertisement message of another management node is received, following merge rules that control whether the radar device or the other management node should have the role of the management node, and, optionally, if the merge rules yield that the radar device should have the role of the management node, receiving one or more requests for radar resources from one or more further radar devices, and, optionally, if the merge rules yield that the radar device should not have the role of the management node, transmitting information characterizing currently assigned resources to the other management node.

[0039] Some examples relate to an apparatus for processing data associated with a radar device for a mobile unit, e.g., vehicle, and / or for an infrastructure unit, e.g., road infrastructure unit, e.g., roadside unit, wherein the apparatus is configured to perform at least one aspect according to the disclosure.

[0040] Some examples relate to a radar device for a mobile unit, e.g., vehicle, and / or for an infrastructure unit, e.g., road infrastructure unit, e.g., roadside unit, comprising at least one apparatus according to the disclosure.

[0041] Some examples relate to a communication system comprising at least one of: a) an apparatus according to the disclosure, or b) a radar device according to the disclosure. In some examples, the communication system is of the 5G type or 6G type or based on 5G or 6G or the like.

[0042] Some examples relate to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method according to the disclosure. R.413979

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[0044] Some examples relate to a computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out the method according to the disclosure.

[0045] Some examples relate to a data carrier signal carrying and / or characterizing the computer program according to the disclosure.

[0046] Some examples relate to a use of the method according to the disclosure and / or of the apparatus according to the disclosure and / or of the radar device according to the disclosure and / or of the communication system according to the disclosure and / or of the computer program according to the disclosure and / or of the computer-readable storage medium according to the disclosure and / or of the data carrier signal according to the disclosure for at least one of: a) mitigation of radar interference, or b) coordination of an operation of multiple radar devices, or c) realization of a centralized resource allocation for multiple radar devices, or d) dynamically determining a management node for resource allocation, or e) avoiding to provide a dedicated node for resource allocation.

[0047] Brief Description of Example Figures

[0048] Some example embodiments will now be described with reference to the accompanying drawings, in which:

[0049] Fig. 1 schematically depicts a simplified flow-chart,

[0050] Fig. 2 schematically depicts a simplified block diagram,

[0051] Fig. 3 schematically depicts a simplified flow-chart,

[0052] Fig. 4 schematically depicts a simplified block diagram,

[0053] Fig. 5 schematically depicts a simplified flow-chart,

[0054] Fig. 6 schematically depicts a simplified flow-chart,

[0055] Fig. 7 schematically depicts a simplified block diagram, R.413979

[0056] - 8 -

[0057] Fig. 8 schematically depicts a simplified flow-chart,

[0058] Fig. 9 schematically depicts a simplified flow-chart,

[0059] Fig. 10 schematically depicts a simplified block diagram,

[0060] Fig. 11 schematically depicts a simplified block diagram,

[0061] Fig. 12 schematically depicts a simplified flow-chart,

[0062] Fig. 13 schematically depicts example aspects of use.

[0063] Some examples, see, for example, Fig. 1 , 2, relate to a method, for example a computer-implemented method, for processing data associated with a radar device RD for a mobile unit MU, e.g., vehicle VEH, and / or for an infrastructure unit IU, e.g., road infrastructure unit, e.g., roadside unit RSU, comprising: determining 100 (Fig. 1) a presence MN-PRESENCE of a management node MN for controlling medium access related to radar signal transmissions, and, based on the determining 100, controlling 102 an operation RD-OP of the radar device RD. In some examples, this may enable to flexibly adapt an operation of the radar device RD, e.g., to changing conditions in the environment ENV of the radar device RD, such as, e.g., the presence or absence of the management node MN.

[0064] Note that in the present example of Fig. 2 the radar device RD is associated with the mobile unit MU, e.g., vehicle VEH. However, in some examples, the radar device RD may also be associated with, e.g., provided for, the infrastructure unit IU, e.g., roadside unit RSU. Insofar, the following explanations are applicable to all variants of radar devices, independent of their association with a mobile unit MU or an infrastructure unit IU.

[0065] In some examples, Fig. 2, the radar device RD may be configured to perform sensing SENS, e.g., by performing at least one of: a) transmitting sensing signals, e.g., radar signals for sensing, or b) receiving at least a portion of the sensing signals that may, e.g., interact with one or more objects (not shown) in the environment ENV of the radar device RD. R.413979

[0066] - 9 -

[0067] Thus, in some examples, controlling the medium access related to radar signals may comprise at least one of: a) controlling the medium access related to radar signal transmissions, or b) controlling the medium access related to radar signal receptions.

[0068] In some examples, Fig. 2, the radar device RD may be configured for wireless communication with at least one further device, e.g., at least one further radar device RD', e.g., according to or based on at least one planned or accepted standard such as, e.g., 4G or 5G or 6G, or another planned or accepted standard.

[0069] In some examples, Fig. 2, the radar device RD may be configured for performing integrated communication and sensing, ICAS. In some examples, a same transmitter and / or receiver, e.g., transceiver equipment may be used for both communication and sensing.

[0070] In some examples, Fig. 1 , the determining 100 comprises at least one of: a) determining 100a that the management node MN (Fig. 2) is present, e.g., in the environment ENV of the radar device RD, or b) determining 100b that the management node MN is not present, e.g., in the environment ENV of the radar device RD.

[0071] In some examples, Fig. 1 , the method comprises listening 100c to a communications channel, determining 100d whether a signal, e.g., an advertisement message MN-AM, of the management node MN (e.g., a management node that may be present in the environment of the radar device) can be received via the communications channel.

[0072] In some examples, the communications channel may be a predetermined communications channel provided for transmission of advertisement messages MN-AM. In some examples, the predetermined communications channel may be provided by at least one of: a) standardization, or b) configuration.

[0073] In some examples, Fig. 2, advertisement messages MN-AM may be used by management nodes MN to notify one or more radar devices RD, RD' in an environment ENV, e.g., coverage area, of the management node MN, of the presence of the management node MN. In some examples, the contents of R.413979

[0074] - 10 - advertisement messages MN-AM may be determined by at least one of: a) standardization, or b) configuration. Further details related to advertisement messages according to some examples are explained further below.

[0075] In some examples, Fig. 3, the method comprises: if the determination 100 (Fig. 1) yields that the management node MN is not present, e.g., no management node is present in the environment, e.g., of the radar device, assuming 110 the role MN-ROLE of the management node MN for controlling medium access related to radar signal transmissions, sending 112 , for example repeatedly sending 112a, for example periodically sending 112b, advertisement messages MN-AM', e.g., to notify at least one further device, e.g., further radar device RD', (Fig. 2) of the presence of a management node. In some examples, this enables to flexibly provide a management node, e.g., for resource allocation related to radar signal transmissions, e.g., without providing a static and / or stationary management node (not shown). Rather, using the principle according to the disclosure, in some examples, a radar device RD may at least temporarily assume the role of the management node MN, e.g., if required, e.g., if no (other) management node is (e.g., already) present in the environment ENV.

[0076] In some examples, the aspect of assuming 110 may form part of the controlling aspect 102 of Fig. 1.

[0077] In some examples, Fig. 4, the advertisement message MN-AM' comprises at least one of: a) a position POS of the radar device RD or a unit MO, IU associated with the radar device RD, or b) a velocity VEL of the radar device RD or a unit MU, IU associated with the radar device RD, or c) an orientation ORIENT of the radar device RD or a unit MU, IU associated with the radar device RD, d) a coverage area COV of the radar device RD. In some examples, optionally, further information may be comprised in the advertisement message.

[0078] In some examples, Fig. 5, the method comprises: receiving 120 one or more requests REQ-RAD-RES for radar resources, e.g., from one or more further radar devices RD', processing 122 the one or more requests REQ-RAD-RES. Thus, in some examples, the radar device RD (Fig. 2), which may temporarily act as a management node, may manage the radar resources, e.g., based at least on the received requests REQ- RAD- RES. R.413979

[0079] - 11 -

[0080] In some examples, the receiving 120 may be performed after assuming the role of the management node, but is not limited thereto. In other words, the radar device RD may also perform the aspect of receiving 120 the one or more requests REQ-RAD-RES for radar resources in other situations, e.g., even if it currently does not have (or, e.g., did not yet assume) the role of the management node MN.

[0081] In some examples, Fig. 5, processing 122 the one or more requests comprises at least one of: a) assigning 122a resources for radar signal transmissions (and / or receptions) based on the one or more requests REQ-RAD-RES to at least one of: a1) the radar device RD (e.g., the radar device RD itself, which currently has the role of the management node), or a2) the one or more further radar devices RD', or b) transmitting 122b information INF-RES-ASSIG characterizing assigned resources for radar signal transmissions (and / or receptions), e.g., to at least one of the one or more further radar devices RD', wherein for example at least one of A) the assigning 122a or B) the transmitting 122b is performed AA) repeatedly, for example periodically, and / or BB) event-based.

[0082] The optional block 124 of Fig. 5 symbolizes using the resources RES-RD (Fig. 2) as, e.g., assigned in block 122a. In other words, in some examples, the radar device RD which at least temporarily has the role MN-ROLE of the management node may assign resources for its own use, e.g., radar resources for sensing SENS, and may, e.g., in block 124, use the so assigned resources for performing the sensing SENS.

[0083] In some examples, Fig. 6, the method comprises: if the determination 100 (Fig. 1) yields that the management node MN (Fig. 2) is present, sending 130, for example repeatedly sending 130a, for example periodically sending 130b, a request REQ-RAD-RES' for radar resources to the management node MN, receiving 132, e.g., in response to the request REQ-RAD-RES', information INF- RES-ASSIG characterizing resources for radar signal transmissions (and / or receptions) assigned to the radar device RD (e.g., by the management node MN).

[0084] The optional block 134 of Fig. 6 symbolizes using the resources RES-RD as, e.g., assigned by the management node MN to the radar device RD, e.g., in response to the request REQ-RAD-RES'. In other words, in some examples, the R.413979

[0085] - 12 - radar device RD, while it does not assume the role MN-ROLE of the management node, may request, see block 130, radar resources for its own use, e.g., radar resources for sensing SENS, and may, e.g., in block 134, use the so assigned resources for performing the sensing SENS.

[0086] In some examples, Fig. 7, the request REQ-RAD-RES' comprises at least one of: a) a position POS of the radar device RD or a unit MU, IU associated with the radar device RD, or b) a velocity VEL of the radar device RD or a unit MU, IU associated with the radar device RD, or c) an orientation ORIENT or a heading of the radar device RD or a unit MU, IU associated with the radar device RD, d) a number NUM of radar sensors of the radar device RD, or e) information INF-RC characterizing a type of radar or radar class, e.g., characterizing at least one of e1) short range radar, or e2) mid-range radar, or e3) long range radar, or f) information INF-CAP characterizing at least one radar capability, such as, e.g., at least one of f1) sweep bandwidth, or f2) hardware capability, or g) information INF-INTERF characterizing interference, e.g., currently experienced interference, e.g., from further, e.g., neighboring, radar devices RD', e.g., characterizing at least one of g1) a frequency band associated with the interference, or g2) a pattern of interference. In some examples, the request REQ-RAD-RES' may also comprise further information not explicitly listed above.

[0087] In some examples, see, for example at least one of the blocks 124, 134, the method comprises: using resources for at least on of: a) radar signal transmissions, e.g., for sensing, or b) radar signal receptions, e.g., for sensing.

[0088] In some examples, Fig. 8, the method comprises: determining 140, e.g., repeatedly determining 140a, e.g., periodically, e.g., after expiry of a predetermined threshold time, determining 140b, whether the radar device RD has the role MN-ROLE of the management node MN, and, based on the determining 140, controlling 142 an operation RD-OP of the radar device RD, wherein for example, if the determining 140 yields that the radar device RD has the role of the management node, the method comprises performing 144 at least one of the aspects of A) receiving (also see, for example, block 120 of Fig. 5) one or more requests for radar resources, e.g., from one or more further radar devices RD', or B) processing (also see, for example, block 122 of Fig. 5) the one or more requests, wherein for example, if the determining 140 yields that the radar device RD does not have the role of the management node, the method comprises performing 146 at least one of the aspects of C) determining (also R.413979

[0089] - 13 - see, for example, block 100 of Fig. 1) a presence of a management node for controlling medium access related to radar signal transmissions, or D) based on the determining, controlling (also see, for example, block 102 of Fig. 1) an operation of the radar device.

[0090] In some examples, Fig. 9, the method comprises: determining 150 whether an advertisement message MN-AM of another management node MN is received, and, if an advertisement message MN-AM of another management node MN is received, following 152 rules, e.g., merge rules, MR that control whether the radar device RD or the other management node MN should have (e.g., keep) the role MN-ROLE of the management node.

[0091] In some examples, Fig. 9, e.g., if the merge rules MR yield that the radar device RD should have the role of the management node, the method comprises: receiving 154 one or more requests REQ-RAD-RES for radar resources from one or more further radar devices RD'.

[0092] In some examples, Fig. 9, e.g., if the merge rules MR yield that the radar device RD should not have the role of the management node, transmitting 156 information INF-CUR-ASSIG-RES characterizing currently assigned resources to the other management node MN. In other words, in some examples, the information INF-CUR-ASSIG-RES may characterize radar resources that have been assigned by the radar device RD in its management node role, e.g., based on one or more requests REQ-RAD-RES from at least one further radar device RD', and the future management node MN may be notified on these already assigned resources using the information INF-CUR-ASSIG-RES, e.g., to ensure a smooth transition to a state with a single management node MN, e.g., other than the radar device RD.

[0093] Some examples, Fig. 10, relate to an apparatus 200 for processing data associated with a radar device RD (Fig. 2) for a mobile unit MU, e.g., vehicle VEH, and / or for an infrastructure unit IU, e.g., road infrastructure unit, e.g., roadside unit RSU, wherein the apparatus 200 is configured to perform at least one aspect according to the disclosure.

[0094] In some examples, the configuration 200 of Fig. 10 may, e.g., be used for the mobile unit MU and / or its radar device RD, also see block 200a of Fig. 2. R.413979

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[0096] In some examples, the configuration 200 of Fig. 10 may, e.g., be used for the infrastructure unit I U, also see block 200b of Fig. 2.

[0097] In some examples, Fig. 10, the apparatus 200 comprises at least one calculating unit, e.g. processor, 202 and at least one memory unit 204 associated with (i.e., usable by) the at least one calculating unit 202 for at least temporarily storing a computer program PRG and / or data DAT, wherein the computer program PRG is, e.g., configured to at least temporarily control an operation of the radar device RD, e.g. related to the execution of a method according to the disclosure.

[0098] In some examples, Fig. 10, the at least one calculating unit 202 comprises at least one core 202a for executing the computer program PRG or at least parts thereof, e.g. for executing the method according to the disclosure or at least one or more steps thereof.

[0099] In some examples, the at least one calculating unit 202 may comprise at least one of the following elements: a microprocessor, a microcontroller, a digital signal processor (DSP), a programmable logic element (e.g., FPGA, field programmable gate array), an ASIC (application specific integrated circuit), hardware circuitry, a tensor processor, a graphics processing unit (GPU).

[0100] According to further examples, any combination of two or more of these elements is also possible.

[0101] In some examples, the memory unit 204 comprises at least one of the following elements: a) a volatile memory 204a, e.g., a random-access memory (RAM), or b) a non-volatile memory 204b, e.g., a Flash-EEPROM.

[0102] In some examples, the computer program PRG is at least temporarily stored in the non-volatile memory 204b. Data DAT (e.g. associated with the determination 100 (Fig. 1) or the controlling 102 (Fig. 1)), which may, e.g., be used for executing the method according to the disclosure, may at least temporarily be stored in the RAM 204a.

[0103] In some examples, an optional computer-readable storage medium SM comprising instructions, e.g. in the form of the computer program PRG, may be provided. As an example, the storage medium SM may comprise or represent a R.413979

[0104] - 15 - digital storage medium such as a semiconductor memory device (e.g., solid state drive, SSD) and / or a magnetic storage medium such as a disk or harddisk drive (HDD) and / or an optical storage medium such as a compact disc (CD) or DVD (digital versatile disc) or the like.

[0105] In some examples, the configuration 200 may comprise an optional data interface 206, e.g., for bidirectional data exchange with an external device (not shown), e.g., for exchanging a data carrier signal DCS.

[0106] In some examples, the data carrier signal DCS may represent and / or carry the computer program PRG according to the disclosure, or at least a part thereof.

[0107] Some examples, Fig. 2, relate to a radar device RD for a mobile unit MU, e.g., vehicle VEH, and / or for an infrastructure unit IU, e.g., road infrastructure unit, e.g., roadside unit, RSU, comprising at least one apparatus 200, 200a, 200b according to the disclosure.

[0108] Some examples, Fig. 2, relate to a communication system 1000 comprising at least one of: a) an apparatus 200, 200a, 200b according to the disclosure, or b) a radar device RD according to the disclosure.

[0109] In the following, further aspects and examples are disclosed which, in some examples, may, e.g., be combined with one or more of the aspects and / or examples explained above.

[0110] Fig. 11 schematically depicts a simplified block diagram illustrating some examples of the disclosure in four different operational states ST1 , ST2, ST3, ST4 along a vertical time axis t. A first vehicle VEH-1 comprises a radar device RD according to the disclosure (not shown in Fig. 11 , see, for example element RD of Fig. 2), wherein the radar device of the first vehicle VEH-1 currently has the role of a management node for controlling medium access related to radar signal transmissions, e.g., by one or more radar devices of the vehicles depicted by Fig. 11.

[0111] In a first example state ST1 , the radar device RD of the first vehicle VEH-1 sends an advertisement message "Adv." (e.g., at least similar to block 112 of Fig. 3), R.413979

[0112] - 16 - e.g., to notify further radar devices of the other vehicles VEH-2, ... of its presence.

[0113] In a second example state ST2, the radar device of the second vehicle VEH-2 receives the advertisement message "Adv.", thus being notified on the presence of the management node in the form of the radar device of the first vehicle VEH-

[0114] 1 , and sends a request "Req." for radar resources (e.g., at least similar to block 130 of Fig. 6) to the radar device of the first vehicle VEH-1 , e.g., its radar device, e.g., the current management node.

[0115] In a third example state ST3, the management node, e.g., the radar device of the first vehicle VEH-1 , responds to the request "Req." of the second vehicle's radar device with a response "Resp.", e.g., indicating radar resources assigned to the radar device of the second vehicle VEH-2 (e.g., at least similar to block 132 of Fig. 6), e.g., for sensing by means of the radar device of the second vehicle VEH-

[0116] 2.

[0117] In a fourth example state ST4, the radar device of the second vehicle VEH-2 acknowledges a receipt of the response "Resp.", e.g., by transmitting a corresponding acknowledgment "Ack." to the management node.

[0118] In some examples, for any of the example states ST1 , ST2, ST3, ST4 explained with respect to Fig. 11 , at least one of the aspects explained above with respect to Fig. 1 to Fig. 10 may be used.

[0119] Note that the principle according to the disclosure enables a dynamic assignment of the role of the management node to a, for example arbitrary, radar device RD according to the disclosure. As such, e.g., the radar device (not shown) of another vehicle than VEH-1 , VEH-2 may also at least temporarily assume the role of the management node.

[0120] Fig. 12 schematically depicts a simplified flow chart illustrating some examples of the disclosure.

[0121] Element e1 symbolizes a radar device RD (Fig. 2), which may, e.g., be associated with, e.g., provided for, a mobile unit MU or an infrastructure unit IU, listening to a communication channel, e.g., for determining whether a R.413979

[0122] - 17 - management node MN (Fig. 2) is present in the environment ENV. In some examples, by performing the listening e1 , the radar device RD may determine, whether at least one advertisement message MN-AM from a management node MN can be received or is received, e.g., via the communication channel.

[0123] Element e2 symbolizes determining, based on the listening e1 , whether at least one advertisement message MN-AM from a management node MN is received.

[0124] If not, e.g., if the determining e2 yields that no advertisement message MN-AM is received, in some examples, the procedure continues with element e3, which symbolizes the radar device RD (Fig. 2) at least temporarily assuming the role of the management node MN or "master".

[0125] Element e4 symbolizes repeatedly, e.g., periodically, sending an advertisement message MN-AM' by the radar device RD, which now, at least temporarily, acts as a management node MN, e.g., to notify at least one further radar device RD' (e.g., "client") of its presence, and thus, e.g., of the possibility of providing resource assignments, e.g., for radar resources, e.g., for sensing, e.g., by the at least one further radar device RD', e.g., to the client(s).

[0126] Element e5 symbolizes the radar device RD receiving and processing at least one request (e.g., at least similar to element REQ-RAD-RES of Fig. 2) from the at least one further radar device RD', e.g., comprising resource assignment for the radar device RD itself, and / or for the at least one further radar device RD', e.g., based on the at least one request. In some examples, the resource assignment for the at least one further radar device RD' may also comprise transmitting corresponding information on the resource assignment to the at least one further radar device RD', e.g., at least similar to block 122b of Fig. 5.

[0127] Element e6 symbolizes using the assigned resources, e.g., by the radar device RD, e.g., for performing sensing SENS by the radar device RD. Similarly, the at least one further radar device RD' may also use the resources assigned by the radar device RD, in its role as management node MN, to the at least one further radar device RD' for sensing, e.g., by the at least one further radar device RD'.

[0128] In some examples, in block e6, the radar device RD may start a timer characterizing a time interval T_valid during which the resource allocation of the R.413979

[0129] - 18 - radar resources is valid, e.g., a validation timer. In some examples, during this time interval T_valid, at least some aspects of element e6 may be performed, e.g., repeated.

[0130] If the determining e2 yields that at least one advertisement message MN-AM is received, in some examples, the procedure continues with element e7, which symbolizes the radar device RD (Fig. 2) requesting radar resources from the management node MN (e.g., at least similar to block 130 of Fig. 6). In this case, the radar device RD, in contrast to element e3, does not assume the role of the management node MN. Rather, the radar device RD may, e.g., act as a "client", e.g., requesting resource allocation from the management node.

[0131] Element e8 symbolizes the radar device RD receiving assigned resources, e.g., from the management node MN, e.g., at least similar to block 132 of Fig. 6. In some examples, after element e8, the procedure may continue with element e6, e.g., using assigned radar resources, as, e.g., explained above.

[0132] Element e9 symbolizes determining, e.g., by the radar device RD or the apparatus 200, whether the timer characterizing the time interval T_valid is elapsed. If so, in some examples, the procedure may continue with element e10, which symbolizes determining, by the radar device RD, whether the radar device RD currently has the role of the management node.

[0133] In some examples, if the determination e10 yields that the radar device RD currently does not have the role of the management node, the procedure may return to element e1 .

[0134] In some examples, if the determination e10 yields that the radar device RD currently does have the role of the management node, the procedure may continue with element e5.

[0135] In some examples, if the radar device RD receives at least one advertisement message MN-AM, e.g., from another management node MN, which may, e.g., be determined in element e11 of Fig. 12, the procedure may continue with element e12, symbolizing an application of rules, e.g., merge rules, MR, to determine whether the radar device RD itself should continue to work as a management node, e.g., as the only management node within the environment ENV, or R.413979

[0136] - 19 - whether the other management node MN should continue to work as a management node, e.g., as the only management node within the environment ENV. In other words, in some examples, element e4 may comprise checking whether at least one advertisement message MN-AM is received, e.g., from another management node MN.

[0137] Returning to the aspect of the merge rules (also see, for example, block 152 of Fig. 9), element e13 of Fig. 12 symbolizes determining, by the radar device RD, e.g., based on the merge rules MR, whether it still has the role of the management node. If yes, the procedure may continue with element e5. If not, the procedure may continue with element e14, e.g., sending, by the radar device RD, currently assigned resources to the other, e.g., future, management node MN, as, e.g., determined based on the merge rules MR.

[0138] In some examples, Fig. 2, at least one of the radar devices RD, RD' may use a frequency-modulated continuous wave (FMCW) radar technique, e.g., within the resources RES-RD, e.g., for the sensing SENS, or may be an FMCW-type radar device, respectively.

[0139] In some conventional, centralized approaches for radar resource assignment, a central unit is required which handles resource allocation for radar devices. In at least some of these conventional approaches, it is assumed that the resource allocation is done by an infrastructure component. However, in at least some of these conventional approaches, such centralized radar resource allocation might be comparatively complicated to realize and even not feasible, e.g., if radar device or associated vehicles are out of coverage of the conventional central unit. In view of this, the principle according to the disclosure enables to propose a scheme for, e.g., dynamically, e.g., flexibly, choosing a management node for radar resource allocation or assignment, e.g., using direct communication between the involved radar devices RD, RD' or their associated units MU, IU, e.g., for coordinating an operation of the various radar devices RD, RD', thus, e.g., enabling to mitigate or avoid interference between the various radar devices RD, RD'.

[0140] In some examples, using the principle according to the disclosure may enable to realize a centralized resource allocation on a dynamic basis (centralized in the sense that, at least temporarily, one single management node MN for radar R.413979

[0141] - 20 - resource allocation, e.g., assignment, is provided), e.g., without the requirement to provide a static, e.g., infrastructure-based, centralized management node.

[0142] In some examples, the principle according to the disclosure may also enable to provide efficient radar resource allocation, even if at least some of the radar devices RD, RD' are out-of-coverage, e.g., may temporarily not be able to communicate with at least one network device of a wireless, e.g., cellular, communication system (e.g., over a Uu interface) which is provided for enabling data communication for the radar devices. Rather, at least temporarily, the radar devices RD, RD' may use direct, e.g., device-to-device communication, e.g., using a sidelink transmission technique, e.g., according to or based on at least some accepted or planned standard, such as, e.g., 5G NR or 6G or the like. In some examples, the radar device RD, RD' may use such direct, e.g., device-to- device communication, e.g., for exchanging at least one of the messages explained above, such as, e.g., the advertisement message MN-AM, MN-AM', and / or at least one of the further messages REQ-RAD-RES, REQ-RAD-RES', INF-REQ-ASSIG, and the like. Thus, in some examples, the principle according to the disclosure enables to coordinate radar operation, e.g., for sensing SENS, between various radar devices RD, RD', even if a connectivity to network devices (e.g., gNB or other base station(s)) is at least temporarily not available.

[0143] In some examples, the principle according to the disclosure enables to provide a so-called centralized approach, wherein one, e.g., single, radar device RD, e.g., in the sense of a central unit, is used, at least temporarily, e.g., for allocating resources, e.g., between different radar devices RD, RD', e.g., automotive radars.

[0144] In some examples, the management node, e.g., "central unit", may be a dynamic unit, e.g., mobile station or unit MU, e.g., vehicle VEH, or a static unit, e.g., infrastructure unit IU, e.g., road side unit RSU, which, in some examples, at least temporarily performs resource allocation, e.g., related to radar resources, e.g., for sensing SENS. In other words, in some examples, both a mobile unit MU and an infrastructure unit IU may at least temporarily assume the role of the management node in the sense of the disclosure. R.413979

[0145] - 21 -

[0146] In some examples, the principle of the disclosure enables to provide efficient radar resource management, e.g., allocation and / or assignment, e.g., for mobile units MU, e.g., vehicles VEH, e.g., for automotive radar devices RD, RD'.

[0147] In some examples, Fig. 2, at least one of the radar devices RD, RD' may follow, e.g., adhere to, regulation and / or some planned or accepted communication standard (such as, e.g., 5G or 6G or the like), and may, e.g., be capable of dynamically modifying their transmission, e.g., changing at least one parameter related to radar operation, e.g., sensing operation.

[0148] In some examples, at least one of the radar devices RD, RD' may represent or may be used to implement an Intelligent Transportation System, ITS, e.g., according to or based on at least one planned and / or accepted standard, such as an ETSI standard.

[0149] In some examples, at least one of the radar devices RD, RD' may represent or may be used to implement an ITS-S-R, e.g., an ITS Station Radar, e.g., an ITS equipped with a radar device RD, RD'.

[0150] In some examples, resource requests and / or resource assignments for radar resources may be provided for a given, e.g., limited time, e.g. time interval, e.g., "duty cycle".

[0151] In some examples, Fig. 2, the radar device RD, RD' may, within such time interval, e.g., short before expiration of the time interval, perform at least one of the following aspects, e.g., for acquiring, e.g., getting, new resources, e.g., for radar operation, e.g., for the sensing SENS:

[0152] Aspects related to finding a management node according to some examples: In some examples, at least one radar device RD, RD' may check, e.g., repeatedly, e.g., periodically, whether there, e.g., already, exists a management node MN (Fig. 2) configured to perform medium access control, e.g., resource allocation and / or assignment, e.g., for interference management, e.g., for an associated environment ENV, as, e.g., characterized by its coverage area. In some examples, for finding such management node MN, or, for determining whether there is already such management node MN, the radar device RD, RD' may observe, e.g., listen to, a predetermined channel, e.g., to determine whether any, R.413979

[0153] - 22 - e.g., other, node, e.g., management node MN, e.g., radar device, sends a so- called advertisement signal indicating the presence of the (e.g., other) management node MN.

[0154] In some examples, e.g., if interference management related to radar operation is provided as a service, e.g., by an infrastructure, in some examples, there may be no need of advertisement messages. In some examples, at least one infrastructure node may, e.g., broadcast, e.g., frequently, respective advertisement message(s).

[0155] In some examples, e.g., if no advertisement message MN-AM is received by the radar device RD, the radar device RD may choose itself as a management node, e.g., a node which is configured to manage radar resources, e.g., to control, e.g., mitigate, interference. In some examples, the radar device RD at least temporarily assumes the role of the management node MN, as already explained above. In some examples, e.g., after assuming the role of the management node MN, the radar device RD may send one or more advertisement messages, e.g., repeatedly, e.g., periodically, e.g., to notify at least one further radar device RD' of its presence.

[0156] In some examples, the advertisement messages may contain information characterizing a state vector, e.g., comprising at least one of: a) position, or b) velocity, or c) orientation, or d) an area which it covers, i.e., the coverage area of the management node.

[0157] In some examples, e.g., if at least one advertisement message MN-AM is received by the radar device RD, e.g., within the environment ENV it is currently located, the radar device RD may conclude that a management node MN is already present in the environment ENV. In some examples, e.g., based on this determination, the radar device RD may send a request for resource assignment to the management node MN. In some examples, the request for resource assignment may be denoted as or may represent a so-called "resource assignment request message" (RARM).

[0158] In some examples, the radar device RD may send, e.g., within the request, e.g., the RARM, one or more of the following information: a) its own position, or b) its R.413979

[0159] - 23 - heading, or c) a number and / or position of its radar sensors, or d) further information related to the radar device RD.

[0160] In some examples, a radar class may be defined, e.g., by standardization. In some examples the radar class may define, e.g., a type of radar (e.g., short, mid or long range radar). In some examples, information characterizing the radar class may be included in the request, e.g., RARM.

[0161] In some examples, a radar capability may be defined, e.g., by standardization. In some examples, the radar capability may define, e.g., at least one radar-related property such as, e.g., at least one of: a) a sweep bandwidth, or b) hardware capability. In some examples, information characterizing the radar capability may be included in the request, e.g., RARM.

[0162] In some examples, information about currently experienced interference, e.g., from neighboring, e.g., non-connected, radar devices may be included in the request, e.g., RARM. In some examples, the information about currently experienced interference may comprise at least one of: a) an occupied frequency band, or b) a pattern of interference. In some examples, such information may, e.g., be captured by cognitive radars, e.g., for the purpose of interference characterization, e.g., of legacy radars. In some examples, the radar device RD may be a cognitive radar device, e.g., a radar device which can sense the spectrum and use the information of environment to improve its performance.

[0163] In some examples, the request, e.g., RARM, may be sent repeatedly, e.g., periodically, e.g., to the management node MN. In some examples, a periodicity or rate for sending the request, e.g., RARM, may be determined depending on a specific scenario (e.g., number of radar devices in the environment, velocity, noise level, interference situation, degree of mobility, and the like).

[0164] In some examples, the management node MN, e.g. the radar device RD which at least temporarily assumes the role of the management node MN, may use information derived from one or more requests, e.g., RAR Ms, as received from one or more further radar devices RD' e.g. located in the environment ENV for an assignment of radar resources to the one or more further radar devices RD'. In some examples, alternatively or additionally to using the information derived from the one or more requests, e.g., RARMs, at least one requirement regarding a R.413979

[0165] - 24 - quality of sensing SENS may be considered for the assignment of the radar resources.

[0166] In some examples, e.g., once the radar resources are assigned, information characterizing the assigned radar resources may be sent to the one or more further radar devices RD', e.g., using a respective message, which, in some examples may be specified, e.g., by at least one of a) configuration or b) standardization. In some examples, the message used for sending the information characterizing the assigned radar resources may be denoted as or may represent a resource assignment message (RAM). In some examples, the resource assignment message might be sent in at least one of the following, different manners: a periodic RAM: Here, the RAM may, e.g., contain information about dedicated resources, e.g., to at least some, e.g., all, radar devices, and, in some examples, the information characterizing the assigned radar resources is updated and sent periodically, e.g., based on a last received RARM from at least one further radar device RD'. In some examples, the RAM may be defined as a radar devicespecific message, e.g., to be unicasted, or as a single message, e.g., to a specific group of radar devices, e.g., as a groupcast, or to all radar devices in the environment ENV or in a cooperation cluster, e.g., as a broadcast. event-based RAM: In some examples, the RAM may contain information about dedicated resources to one or more radar devices, e.g., to all radar devices, and this information may, e.g., be sent as a response to an RARM, e.g., as received from a specific radar device RD'. Thus, in some examples, if a specific radar device RD' does not receive any response from the management node MN, e.g., to its RARM to the management node MN (e.g., no RAM is received by the specific radar device RD'), the specific radar device RD' may repeat to transmit its RARM to the management node MN to get the requested resources.

[0167] In some examples, if no RAM is received by a specific radar device RD, e.g., after N requests (e.g., RARM), then the specific radar device RD may assign itself as the management node MN and may, optionally, send one or more advertisement messages, and may, optionally, perform resource allocation, e.g., for itself and / or for at least one further radar device RD', by itself. In other words, in some examples, the radar device RD is configured to transmit a predetermined R.413979

[0168] - 25 - number N, N > 1 , of requests for resource assignment, e.g., to a management node MN, and if the radar device RD does not receive any response, e.g., RAM, to the N many requests is received by the radar device RD, e.g., after a predetermined time interval, the radar device RD may assume the role of the management node MN.

[0169] In some examples, e.g., if no RAM is received or if an outdated version of a RAM is received (in some examples, an age of information of, e.g., a RAM, may be determined and / or evaluated), then the radar device RD may use a last available RAM.

[0170] In some examples, e.g., if the management node MN, e.g., the radar device RD which at least temporarily assumes the role of the management node MN, does not receive any RARM from at least one further radar device RD' for a predetermined first, e.g., comparatively short, amount of time (e.g., depending on a rate or periodicity of the RARM), the radar device RD may estimate a current state of the at least one further radar device RD' and may, in some examples, perform resource allocation for the at least one further radar device RD' accordingly, e.g., based on the estimated current state of the at least one further radar device RD'.

[0171] In some examples, e.g., if the management node MN, e.g., the radar device RD which at least temporarily assumes the role of the management node MN, does not receive any RARM from at least one further radar device RD' for a predetermined second, e.g., comparatively long, amount of time (e.g., depending on a rate or periodicity of the RARM), the management node MN may disregard the at least one further radar device RD', e.g., by removing it from a list of further radar devices RD'.

[0172] In some examples, assigned resources may comprise a validation time which, in some examples, may, e.g., also, be transmitted, e.g., within a message, e.g., the RAM. In some examples, requests for resource assignment such as, e.g., RARM, may be sent, e.g., repeatedly, e.g., periodically, e.g., before a validation time of, e.g., previously assigned, resources is over.

[0173] In some examples, the principle according to the embodiments enables to control, e.g., manage, interference, even if it is generated by a non-connected R.413979

[0174] - 26 - radar (not shown), e.g., a radar device that is not configured to communicate with the radar devices RD, RD'.

[0175] In some examples, one or more messages according to the disclosure, such as, e.g., the requests REQ-RAD-RES, REQ-RAD-RES', RARM, or responses INF- RES-ASSIG, INF-RES-ASSIG', RAM or advertisements MN-AM, MN-AM' may be transmitted using at least one conventional message, e.g., according to some planned or accepted standard, e.g., integrated, e.g., as a container, into an existing message as defined by an ETSI standard, such as, e.g., a cooperative awareness message (CAM).

[0176] In some examples, the principle according to the disclosure enables to provide a scheme for resource allocation for radar devices RD, RD' in a centralized and dynmaic manner (e.g., by using one management node MN, e.g., a radar device RD at least temporarily assuming the role of the management node MN), e.g., without a dedicated node for resource allocation (e.g., a node that is configured to permanently perform resource allocation) by default. Thus, in other words, in some examples, following an example scheme according to the disclosure, resource allocation for the radar devices RD, RD' may be performed, e.g., chosen, by one of the nodes in the scene or environment ENV, respectively, e.g., the radar device RD that at least temporarily assumes the role of the management node MN.

[0177] Some examples, Fig. 13, relate to a use 300 of the method according to the disclosure and / or of the apparatus 200 according to the disclosure and / or of the radar device RD according to the disclosure and / or of the communication system 1000 according to the disclosure and / or of the computer program PRG according to the disclosure and / or of the computer-readable storage medium SM according to the disclosure and / or of the data carrier signal DCS according to the disclosure for at least one of: a) mitigation 301 of radar interference, or b) coordination 302 of an operation of multiple radar devices RD, RD', or c) realization 303 of a centralized resource allocation for multiple radar devices RD, RD', or d) dynamically determining 304 a management node for resource allocation, or e) avoiding 305 to provide a dedicated node for resource allocation.

Claims

R.413979- 27 -Claims1 . A method, for example a computer-implemented method, for processing data associated with a radar device (RD) for a mobile unit (MU), e.g., vehicle (VEH), and / or for an infrastructure unit (IU), e.g., road infrastructure unit, e.g., roadside unit (RSU), comprising: determining (100) a presence (MN-PRESENCE) of a management node (MN) for controlling medium access related to radar signal transmissions, and, based on the determining (100), controlling (102) an operation (RD-OP) of the radar device (RD).

2. The method according to claim 1 , wherein the determining (100) comprises at least one of: a) determining (100a) that the management node (MN) is present, e.g., in an environment (ENV) of the radar device (RD), or b) determining (100b) that the management node (MN) is not present, e.g., in the environment (ENV) of the radar device (RD).

3. The method according to any of the preceding claims, comprising: listening (100c) to a communications channel, determining (100d) whether a signal, e.g., an advertisement message (MN-AM), of the management node (MN) can be received via the communications channel.

4. The method according to any of the preceding claims, comprising: if the determination (100) yields that the management node (MN) is not present, e.g., no management node (MN) is present in the environment (ENV), assuming (110) the role (MN-ROLE) of the management node for controlling medium access related to radar signal transmissions, sending (112), for example repeatedly sending (112a), for example periodically sending (112b), advertisement messages (MN-AM'), e.g., toR.413979- 28 - notify at least one further device, e.g., further radar device, (RD') of the presence of a management node.

5. The method according to claim 4, wherein the advertisement message (MN- AM') comprises at least one of: a) a position (POS) of the radar device (RD) or a unit (MU, IU) associated with the radar device (RD), or b) a velocity (VEL) of the radar device (RD) or a unit (MU, IU) associated with the radar device (RD), or c) an orientation (ORIENT) of the radar device (RD) or a unit (MU, IU) associated with the radar device (RD), or d) a coverage area (COV) of the radar device (RD).

6. The method according to any of the preceding claims, comprising: receiving (120) one or more requests (REQ-RAD-RES) for radar resources, e.g., from one or more further radar devices (RD'), processing (122) the one or more requests (REQ-RAD-RES).

7. The method according to claim 6, wherein processing (122) the one or more requests (REQ-RAD-RES) comprises at least one of: a) assigning (122a) resources for radar signal transmissions based on the one or more requests (REQ-RAD-RES) to at least one of: a1) the radar device (RD), or a2) the one or more further radar devices (RD'), or b) transmitting (122b) information (INF-RES-ASSIG) characterizing assigned resources for radar signal transmissions, e.g., to at least one of the one or more further radar devices (RD'), wherein for example at least one ofA) the assigning (122a) orB) the transmitting (122b) is performedAA) repeatedly, for example periodically, and / or BB) event-based.

8. The method according to any of the preceding claims, comprising: if the determination (100) yields that the management node (MN) is present, sending (130), for example repeatedly sending (130a), for example periodically sending (130b), a request (REQ-RAD-RES') for radar resources to the management node (MN),R.413979- 29 - receiving (132) information (INF-RES-ASSIG') characterizing resources for radar signal transmissions assigned to the radar device (RD), wherein for example the request (REQ-RAD-RES') comprises at least one of: a) a position (POS) of the radar device (RD) or a unit (MU, IU) associated with the radar device (RD), or b) a velocity (VEL) of the radar device (RD) or a unit (MU, IU) associated with the radar device (RD), or c) an orientation (ORIENT) or a heading of the radar device (RD) or a unit (MU, IU) associated with the radar device (RD), d) a number (NUM) of radar sensors of the radar device (RD), or e) information (INF-RC) characterizing a type of radar, e.g., characterizing at least one of e1) short range radar, or e2) mid-range radar, or e3) long range radar, or f) information (INF-CAP) characterizing at least one radar capability, such as, e.g., at least one of f1) sweep bandwidth, or f2) hardware capability, or g) information (INF-INTERF) characterizing interference, e.g., currently experienced interference, e.g., from further, e.g., neighboring, radar devices, e.g., characterizing at least one of g1) a frequency band associated with the interference, or g2) a pattern of interference.

9. The method according to any of the preceding claims, comprising: using (124; 134) resources (RES-RD) for at least on of: a) radar signal transmissions, e.g., for sensing (SENS), or b) radar signal receptions, e.g., for sensing (SENS).

10. The method according to any of the preceding claims, comprising: determining (140), e.g., repeatedly determining (140a), e.g., periodically, e.g., after expiry of a predetermined threshold time, determining (140b), whether the radar device (RD) has the role (MN-ROLE) of the management node, and,R.413979- 30 - based on the determining (140; 140a; 140b), controlling (142) an operation (RD-OP) of the radar device (RD), wherein for example, if the determining (140; 140a; 140b) yields that the radar device (RD) has the role (MN-ROLE) of the management node, the method comprises performing (144) at least one of the aspects ofA) receiving (120) one or more requests (REQ-RAD-RES) for radar resources, e.g., from one or more further radar devices (RD’), orB) processing (122) the one or more requests (REQ-RAD-RES), wherein for example, if the determining (140; 140a; 140b) yields that the radar device (RD) does not have the role (MN-ROLE) of the management node, the method comprises performing (146) at least one of the aspects ofC) determining (100) a presence (MN-PRESENCE) of a management node (MN) for controlling medium access related to radar signal transmissions, orD) based on the determining (100), controlling (102) an operation (RD-OP) of the radar device (RD).11 . The method according to any of the preceding claims, comprising: determining (150) whether an advertisement message (MN-AM) of another management node (MN) is received, and, if an advertisement message (MN-AM) of another management node (MN) is received, following (152) rules, e.g., merge rules, (MR) that control whether the radar device (RD) or the other management node (MN) should have the role of the management node, and, optionally, if the merge rules (MR) yield that the radar device (RD) should have the role of the management node (MN), receiving (154) one or more requests (REQ-RAD-RES) for radar resources from one or more further radar devices (RD'), and, optionally, if the merge rules (MR) yield that the radar device (RD) should not have the role of the management node (MN), transmitting (156) information (INF-CUR-ASSIG-RES) characterizing currently assigned resources to the other management node (MN).

12. An apparatus (200; 200a; 200b) for processing data associated with a radar device (RD) for a mobile unit (MU), e.g., vehicle (VEH), and / or for anR.413979- 31 - infrastructure unit (I U), e.g., road infrastructure unit, e.g., roadside unit (RSU), wherein the apparatus (200; 200a; 200b) is configured to perform at least one aspect according to any of the preceding claims.

13. A radar device (RD) for a mobile unit (MU), e.g., vehicle (VEH), and / or for an infrastructure unit (IU), e.g., road infrastructure unit, e.g., roadside unit (RSU), comprising at least one apparatus (200; 200a; 200b) according to claim 12.

14. A communication system (1000) comprising at least one of: a) an apparatus (200; 200a; 200b) according to claim 12, or b) a radar device (RD) according to claim 13.

15. 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 the claims 1 to 11 .

16. 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 at least one of the claims 1 to 11 .

17. A data carrier signal (DCS) carrying and / or characterizing the computer program (PRG) of claim 15.

18. A use (300) of the method according to at least one of the claims 1 to 11 and / or of the apparatus (200; 200a; 200b) according to claim 12 and / or of the radar device (RD) of claim 13 and / or of the communication system(1000) according to claim 14 and / or of the computer program (PRG) according to claim 15 and / or of the computer-readable storage medium (SM) according to claim 16 and / or of the data carrier signal (DCS) according to claim 17 for at least one of: a) mitigation (301) of radar interference, or b) coordination (302) of an operation of multiple radar devices (RD; RD'), or c) realization (303) of a centralized resource allocation for multiple radar devices (RD; RD'), or d) dynamically determining (304) a management node (MN) for resourceR.413979- 32 - allocation, or e) avoiding (305) to provide a dedicated node for resource allocation.

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