Target detection method and system

Abstract

A target detection method and system, the method comprising: dividing an available frequency range into a plurality of sub-bands, frequency ranges of the plurality of sub-bands being different; in a first time period, a plurality of devices transmit first signals on the basis of a first transmission mode, the first transmission mode being used for indicating a first correspondence between the plurality of devices and the plurality of sub-bands; and in a second time period, the plurality of devices transmit second signals on the basis of a second transmission mode, the second transmission mode indicating a second correspondence between the plurality of devices and the plurality of sub-bands. A sub-band corresponding to at least one device in the second transmission mode is different from a sub-band corresponding to the same at least one device in the first transmission mode. The first signals and the second signals are used for detecting a target. During a same time period, the plurality of devices use different sub-bands. During different time periods, at least one of the plurality of devices switches sub-bands to use. Hence, it is ensured that when the plurality of devices detect a target, the anti-interference capability of the plurality of devices is improved, and mutual interference among the plurality of devices when detecting the target is reduced.

Description

Target detection methods and systems

[0001] This application claims priority to Chinese patent application filed on February 28, 2025, with application number 202510242536.2 and entitled “Target Detection Method and System”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the media field, and more particularly to a target detection method and system. Background Technology

[0003] Currently, due to the limited sensing range or coverage of a single detection device (such as radar or base station), multiple detection devices are deployed collaboratively within a region to achieve full-area perception (such as urban areas or highways). The signals emitted by these detection devices are not only reflected by the target but also received by other detection devices, leading to mutual interference when multiple devices detect a target. Typically, multiple interfering detection devices use frequency division, time division, or code division techniques to avoid interference. However, frequency and time domain resources are limited, and detection devices cannot support code division techniques, resulting in mutual interference when multiple devices detect a target and reducing the accuracy of target detection. Summary of the Invention

[0004] This application provides a target detection method and system, thereby improving the anti-interference capability of multiple detection devices and reducing mutual interference between the targets detected by multiple detection devices.

[0005] Firstly, a target detection method is provided, comprising dividing an available frequency range into multiple sub-bands, each sub-band having a different frequency range. In a first time period, multiple devices transmit a first signal based on a first transmission mode, the first transmission mode indicating a first correspondence between the multiple devices and the multiple sub-bands within the available frequency range. In a second time period, the multiple devices transmit a second signal based on a second transmission mode, the second transmission mode indicating a second correspondence between the multiple devices and the multiple sub-bands within the available frequency range. In the second transmission mode, at least one device among the multiple devices corresponds to a different sub-band than the same sub-band corresponding to at least one device in the first transmission mode. During the same time period, each of the multiple devices uses a different sub-band. The first and second signals are used to detect a target.

[0006] The target detection method provided in this application divides the available frequency range into multiple sub-bands of different frequency ranges. For example, these sub-bands include wide and narrow sub-bands, and multiple devices reuse these sub-bands. During the same time period, multiple devices use sub-bands of different frequency ranges, reducing mutual interference between the devices detecting targets. At different times, multiple devices use different transmission modes to transmit signals, meaning at least one device switches the sub-band it uses. For example, devices switch between wide and narrow sub-bands, alternating between transmitting wideband and narrowband signals. Using a wide sub-band to transmit a wideband signal gives the device wideband resolution capability, meaning it has high range resolution for target detection. Multiple devices taking turns using a wide sub-band to transmit a wideband signal ensures each device has high range resolution for target detection. Using a narrow sub-band to transmit a narrowband signal maintains the device's detection capability even when using a wideband signal. Multiple devices using a narrow sub-band to transmit a narrowband signal increase the number of sub-bands within the limited available frequency range, thereby increasing the number of devices capable of detecting targets. This increases the number of devices, ensuring that multiple devices have high range resolution when detecting targets, improving the anti-interference capability of multiple devices, reducing mutual interference between multiple devices when detecting targets, and improving the accuracy of target detection.

[0007] In one possible implementation, the frequency range of at least one of the multiple subbands is greater than or equal to a bandwidth threshold, which is determined by the range resolution.

[0008] The bandwidth threshold is determined based on the distance resolution required by the device. The available frequency range is divided into multiple sub-bands with different frequency ranges, such that the frequency range of at least one sub-band is greater than or equal to the bandwidth threshold, so that the device using the sub-band has the required distance resolution.

[0009] In another possible implementation, when multiple devices transmit the first signal based on the first transmission mode, at least one of the multiple devices uses a subband frequency range greater than or equal to a bandwidth threshold.

[0010] In another possible implementation, where multiple devices transmit a second signal based on a second transmission mode, at least one of the devices uses a subband with a frequency range greater than or equal to a bandwidth threshold.

[0011] The device uses subbands with bandwidth greater than or equal to the bandwidth threshold to transmit signals, enabling the device to distinguish targets that are relatively close.

[0012] In another possible implementation, the number of subbands included in the available frequency range is greater than or equal to the number of devices.

[0013] The more subbands there are, the more devices can use subbands within the available frequency range, and the more devices can be deployed in the area. This ensures that multiple devices use subbands with different frequency ranges at the same time, meaning that no two devices use the same subband, thus reducing mutual interference between multiple devices detecting targets.

[0014] In another possible implementation, the number of subbands within the available frequency range is greater than the number of devices. During a third time period, multiple devices transmit a third signal based on a third transmission mode. Each device uses a subband with a frequency range smaller than a bandwidth threshold. The third transmission mode indicates a third correspondence between the multiple devices and the multiple subbands within the available frequency range. Specifically, in the first and third transmission modes, at least one device among the multiple devices corresponds to a different subband. Similarly, in the second and third transmission modes, at least one device among the multiple devices corresponds to a different subband.

[0015] Multiple devices can use subbands with smaller bandwidths to transmit signals; for example, narrow subbands can transmit narrowband signals, thus reducing the power consumption of the devices.

[0016] In another possible implementation, the multiple devices include a first device; in the first transmission mode, the first device corresponds to a first sub-band; the method further includes: when the first device transmits a first signal based on the first sub-band, updating the target state of a first target according to update parameters related to the first sub-band, wherein the first target is a target detected by the first device based on the first sub-band.

[0017] In another possible implementation, updating the target state of the first target according to update parameters associated with the first sub-band includes: if it is determined from the association parameters that the target detected based on the first sub-band is associated with the first target, updating the target state of the first target according to update parameters associated with the first sub-band, wherein the association parameters are associated with the first sub-band used by the first device.

[0018] Associating the target with the subband currently used by the device, and associating the target status update with the subband currently used by the device, allows the device to maintain its detection capability when transmitting signals using a smaller bandwidth subband.

[0019] In another possible implementation, the method further includes adjusting the first launch mode to a second launch mode based on the degree of correlation between the target detected based on the first subband and the first target.

[0020] In another possible implementation, in a first transmission mode, the first device corresponds to a first subband; in a second transmission mode, the first device corresponds to a second subband; the frequency range of the second subband is greater than the frequency range of the first subband. Adjusting the first transmission mode to the second transmission mode based on the correlation between the target detected based on the first subband and the first target includes: adjusting the first subband used by the first device to the second subband based on the correlation between the target detected based on the first subband and the first target.

[0021] The device uses a larger bandwidth subband to transmit signals, improving the robustness of target state updates.

[0022] For example, if the correlation result indicates that the correlation between the target detected based on the first subband and the first target is less than the correlation threshold, the first subband used by the first device is adjusted to the second subband.

[0023] In another possible implementation, the multiple devices further include a second device; in the first transmission mode, the second device corresponds to a second subband; in the second transmission mode, the second device corresponds to a first subband. The method further includes: adjusting the second subband used by the second device to the first subband based on the adjustment result of the first device.

[0024] This ensures that no two devices use the same subband at the same time, reducing mutual interference between multiple devices detecting targets.

[0025] In a second aspect, a target detection system is provided, comprising multiple devices; the multiple devices are used to perform operational steps of the method as described in the first aspect or any possible implementation thereof.

[0026] In a first time period, multiple devices transmit a first signal based on a first transmission mode, which indicates a first correspondence between the multiple devices and multiple sub-bands within the available frequency range. In a second time period, the multiple devices transmit a second signal based on a second transmission mode, which indicates a second correspondence between the multiple devices and multiple sub-bands within the available frequency range. In the second transmission mode, at least one device corresponds to a different sub-band than the same sub-band corresponding to at least one device in the first transmission mode. The frequency ranges of the multiple sub-bands are different. Within the same time period, each of the multiple devices uses a different sub-band. The first and second signals are used to detect targets.

[0027] In one possible implementation, the frequency range of at least one of the multiple subbands is greater than or equal to a bandwidth threshold, which is determined by the range resolution.

[0028] In another possible implementation, when multiple devices transmit the first signal based on the first transmission mode, at least one of the multiple devices uses a subband frequency range greater than or equal to a bandwidth threshold.

[0029] In another possible implementation, where multiple devices transmit a second signal based on a second transmission mode, at least one of the devices uses a subband with a frequency range greater than or equal to a bandwidth threshold.

[0030] In another possible implementation, the number of subbands included in the available frequency range is greater than or equal to the number of devices.

[0031] In another possible implementation, the number of subbands within the available frequency range is greater than the number of devices. During a third time period, multiple devices transmit a third signal based on a third transmission mode. Each device uses a subband with a frequency range smaller than a bandwidth threshold. The third transmission mode indicates a third correspondence between the multiple devices and the multiple subbands within the available frequency range. Specifically, in the first and third transmission modes, at least one device among the multiple devices corresponds to a different subband. Similarly, in the second and third transmission modes, at least one device among the multiple devices corresponds to a different subband.

[0032] In another possible implementation, the multiple devices include a first device; in the first transmission mode, the first device corresponds to a first sub-band; the method further includes: when the first device transmits a first signal based on the first sub-band, updating the target state of a first target according to update parameters related to the first sub-band, wherein the first target is a target detected by the first device based on the first sub-band.

[0033] In another possible implementation, updating the target state of the first target according to update parameters associated with the first sub-band includes: if it is determined from the association parameters that the target detected based on the first sub-band is associated with the first target, updating the target state of the first target according to update parameters associated with the first sub-band, wherein the association parameters are associated with the first sub-band used by the first device.

[0034] In another possible implementation, the method further includes adjusting the first launch mode to a second launch mode based on the degree of correlation between the target detected based on the first subband and the first target.

[0035] In another possible implementation, in a first transmission mode, the first device corresponds to a first subband; in a second transmission mode, the first device corresponds to a second subband; the frequency range of the second subband is greater than the frequency range of the first subband. Adjusting the first transmission mode to the second transmission mode based on the correlation between the target detected based on the first subband and the first target includes: adjusting the first subband used by the first device to the second subband based on the correlation between the target detected based on the first subband and the first target.

[0036] In another possible implementation, the multiple devices further include a second device; in the first transmission mode, the second device corresponds to a second subband; in the second transmission mode, the second device corresponds to a first subband. The method further includes: adjusting the second subband used by the second device to the first subband based on the adjustment result of the first device.

[0037] Thirdly, a computer-readable storage medium is provided, comprising: computer software instructions; when the computer software instructions are executed in a computing device, causing the computing device to perform operational steps of the method as described in the first aspect or any possible implementation thereof.

[0038] Fourthly, a computer program product containing instructions is provided, which, when executed on a computing device, cause the computing device to perform operational steps of the method as described in the first aspect or any possible implementation thereof.

[0039] The technical effects of any of the design methods in the second to fourth aspects can be found in the first aspect or the technical effects of different design methods in the first aspect, and will not be repeated here.

[0040] Based on the implementation methods provided in the above aspects, this application can be further combined to provide more implementation methods. Attached Figure Description

[0041] Figure 1 is a schematic diagram of an application scenario for target detection provided in this application;

[0042] Figure 2 is a flowchart illustrating a resource allocation method provided in this application;

[0043] Figure 3 is a schematic diagram of a method for dividing an available frequency range provided in this application;

[0044] Figure 4 is a schematic diagram of a launch mode provided in this application;

[0045] Figure 5 is a schematic diagram of another launch mode provided in this application;

[0046] Figure 6 is a flowchart illustrating a target detection method provided in this application;

[0047] Figure 7 is a flowchart illustrating another target detection method provided in this application;

[0048] Figure 8 is a schematic diagram of a target detection launch mode conversion provided in this application;

[0049] Figure 9 is a schematic diagram of a target detection process provided in this application;

[0050] Figure 10 is a schematic diagram illustrating the expected effect of target detection provided in this application;

[0051] Figure 11 is a schematic diagram of the structure of a target detection device provided in this application;

[0052] Figure 12 is a structural schematic diagram of a computer device provided in this application;

[0053] Figure 13 is a schematic diagram of a target detection system provided in this application. Detailed Implementation

[0054] To facilitate understanding, the main terms used in this application will be explained first.

[0055] Radar is an electronic device that uses electromagnetic waves to detect targets. Radar is an abbreviation for Radio Detection and Ranging. The basic functions of radar include ranging, velocity measurement, angle measurement, and identification. Ranging determines the distance by calculating the round-trip time of the electromagnetic wave to the target. Velocity measurement uses the Doppler effect to measure the target's speed. Angle measurement determines the target's direction by rotating the antenna or using a multi-antenna system. Identification determines the nature of the target based on the characteristics of the reflected signal. Radar detects the target's position, velocity, and other characteristics by emitting electromagnetic waves and receiving the echoes. These functions make radar widely used in civilian and aerospace fields.

[0056] Range resolution refers to the ability to distinguish the smallest difference in distance between two targets. For example, in a radar system, when two targets are located at the same azimuth angle but at different distances from the radar, the minimum distance at which the radar can distinguish the two targets is the range resolution. Range resolution is determined by the pulse width emitted by the radar. The narrower the pulse width, the smaller the minimum distance between the two targets that the radar system can distinguish, i.e., the higher the range resolution. Narrow pulses are more precise in time and can more accurately reflect the target's distance information. Furthermore, range resolution is determined by bandwidth. The larger the bandwidth, the higher the range resolution; the smaller the bandwidth, the lower the range resolution.

[0057] Because the sensing range or coverage of a single detection device (such as radar or a base station) is limited, multiple detection devices are deployed collaboratively within the area to achieve comprehensive perception of a region (such as urban areas or highways). The devices emit detection signals to detect targets; the targets reflect the detection signals; and the devices receive the echo signals reflected from the targets. The power of the echo signals attenuates to the fourth power with distance from the target. However, adjacent devices receive the detection signals emitted by one device, and the emitted signals interfere with adjacent devices. The power of this interference attenuates to the second power with distance between stations. Therefore, the detection range of a device is much smaller than its interference range. In densely populated scenarios such as urban areas and highways, severe mutual interference exists between devices.

[0058] As an example, Figure 1 illustrates an application scenario for target detection provided in this application. In a road scenario, multiple radars are deployed on the roadside. In Figure 1, radar 1 emits electromagnetic waves and receives the echoes reflected by vehicles on the road. Simultaneously, radar 1 also receives electromagnetic waves emitted by radar 2 and radar 3. The electromagnetic waves emitted by radar 2 and radar 3 interfere with radar 1, affecting its ability to detect vehicles.

[0059] To address the problem of mutual interference and reduced accuracy in target detection when multiple detection devices are used, this application provides a target detection method that divides the available frequency range into multiple sub-bands with different frequency ranges. In a first time period, multiple devices transmit a first signal based on a first transmission mode, which indicates a first correspondence between the multiple devices and the multiple sub-bands within the available frequency range. In a second time period, multiple devices transmit a second signal based on a second transmission mode, which indicates a second correspondence between the multiple devices and the multiple sub-bands within the available frequency range. In the second transmission mode, at least one device corresponds to a different sub-band than the same device in the first transmission mode. Within the same time period, each of the multiple devices uses a different sub-band. The first and second signals are used to detect the target.

[0060] Compared to solutions employing frequency division or time division multiplexing (FDM) techniques for interference mitigation, which require multiple detectors to possess high range resolution, this approach faces challenges. Limited time and frequency resources prevent the allocation of sufficient time or frequency domain resources to each detector. Even if sufficient resources are allocated to each detector to achieve high range resolution, interference may still exist when multiple detectors are detecting a target, or, while meeting interference mitigation requirements, it may necessitate reducing the number of detectors. Conversely, allocating insufficient frequency domain resources to each detector may not satisfy the requirement for high range resolution across multiple devices.

[0061] Compared to multiple detection devices using code division multiplexing (CDM) technology for interference mitigation, where different devices transmit different orthogonal coded waveforms that interfere with each other, orthogonal coded waveforms are susceptible to target velocity. The target echo, after matched filtering, cannot effectively accumulate a signal-to-noise ratio, affecting target detection. Furthermore, orthogonal coded waveforms place high demands on hardware; most detection devices transmit linear frequency modulation (LFM) signals and cannot transmit orthogonal coded waveforms.

[0062] The target detection method provided in this application divides the available frequency range into multiple sub-bands of different frequency ranges. For example, these sub-bands include wide and narrow sub-bands, and multiple devices reuse these sub-bands. During the same time period, multiple devices use sub-bands of different frequency ranges, reducing mutual interference between the devices detecting targets. At different times, multiple devices use different transmission modes to transmit signals, meaning at least one device switches the sub-band it uses. For example, devices switch between wide and narrow sub-bands, alternating between transmitting wideband and narrowband signals. Using a wide sub-band to transmit a wideband signal gives the device wideband resolution capability, meaning it has high range resolution for target detection. Multiple devices taking turns using a wide sub-band to transmit a wideband signal ensures each device has high range resolution for target detection. Using a narrow sub-band to transmit a narrowband signal maintains the device's detection capability even when using a wideband signal. Multiple devices using a narrow sub-band to transmit a narrowband signal increase the number of sub-bands within the limited available frequency range, thereby increasing the number of devices capable of detecting targets. This increases the number of devices, ensuring that multiple devices have high range resolution when detecting targets, improving the anti-interference capability of multiple devices, reducing mutual interference between multiple devices when detecting targets, and improving the accuracy of target detection.

[0063] This application is applicable to scenarios where multiple devices perceive targets in an area (such as an urban area or highway). The devices described in this application include detection equipment such as radar and base stations. This application aims to solve the problem of mutual interference that occurs when multiple devices perceive targets.

[0064] The target detection method provided in this application will be described in detail below with reference to the accompanying drawings.

[0065] First, the frequency domain resources used by multiple devices in the region are configured. Figure 2 is a flowchart illustrating a resource allocation method provided in this application. As shown in Figure 2, the method includes the following steps.

[0066] Step 210: Divide the available frequency range into multiple sub-bands.

[0067] On the one hand, the frequency range that equipment can use is constrained by regulations. On the other hand, equipment capabilities limit the frequency range that the equipment can use. Equipment capabilities vary depending on the application scenario. Equipment capability refers to the bandwidth of the signal that the equipment can transmit. For example, the frequency generator and filters included in the equipment are used to generate the transmitted signal. The stronger the equipment capability, the larger the signal bandwidth, but also the greater the power consumption and cost. Typically, the frequency range that equipment can use occupies a portion of the frequency range constrained by regulations.

[0068] In some embodiments, the available frequency range is determined by regulatory constraints and equipment capabilities. For example, the available frequency range is the intersection of regulatory constraints and equipment capabilities. For instance, the regulatory frequency range is 79 GHz to 95 GHz, and the available frequency range is 80 GHz to 80.5 GHz. Or, for example, the available frequency range is 79 GHz to 80 GHz.

[0069] Then, the required range resolution and the corresponding transmit waveform bandwidth are determined.

[0070] The range resolution satisfies the following formula (1).

[0071] Where ΔR is the range resolution, c is the speed of light, and B is the bandwidth.

[0072] The larger the bandwidth, the smaller the range resolution value, indicating a greater ability to distinguish nearby targets; conversely, the smaller the bandwidth, the larger the range resolution value, indicating a less ability to distinguish nearby targets.

[0073] The range resolution achievable by a device refers to its maximum range resolution. The achievable range resolution is equal to c divided by 2 * usable frequency range.

[0074] Transmitted waveform bandwidth refers to the frequency range of the transmitted signal, usually measured in Hertz (Hz). Bandwidth refers to the coverage area of ​​a signal in the frequency domain, usually measured in Hz. Bandwidth is determined by the signal's center frequency and frequency range. For example, if the center frequency is 76.5 GHz and the bandwidth is 300 MHz, then the signal's frequency range is from 76.2 GHz to 76.8 GHz.

[0075] In radar systems, a wider bandwidth results in a broader frequency range for the signal. This helps improve range resolution. For example, a radar system using a wider bandwidth can acquire more frequency information within the same measurement time, thereby improving the accuracy of ranging and velocity measurements.

[0076] The required distance resolution varies depending on the application scenario. For example, distinguishing the distance between vehicles is used for traffic flow statistics and section speed measurement. Distinguishing the distance between vehicles and pedestrians is used to ensure road safety.

[0077] In this application, the required range resolution is pre-configured for the device according to the needs of the scenario, etc. For example, the transmit waveform bandwidth corresponding to the required range resolution is obtained according to formula (1). The transmit waveform bandwidth corresponding to the required range resolution refers to the minimum transmit waveform bandwidth or bandwidth threshold. If the bandwidth of the signal transmitted by the device is less than the minimum transmit waveform bandwidth, the device cannot distinguish between two different targets that are close to each other. The required range resolution is less than the range resolution that the device can achieve. The transmit waveform bandwidth corresponding to the required range resolution is less than the available frequency range.

[0078] For example, the transmit waveform bandwidth is 300MHz, and the range resolution corresponding to the transmit waveform bandwidth is 0.5m.

[0079] In addition, determine the number of devices that interfere with each other.

[0080] In some embodiments, the number of mutually interfering devices is determined based on the scenario. For example, in a section speed measurement scenario, if n devices are deployed within the section and there is interference between the n devices, then the number of mutually interfering devices is n.

[0081] In other embodiments, multiple devices are deployed across the entire area, dividing the area into multiple zones. Each zone contains devices that interfere with each other. Devices in different zones do not interfere with each other. For example, multiple devices are deployed over a long road segment (e.g., hundreds of kilometers), with no interference between the first and last devices, and the first and last devices belonging to two different zones.

[0082] In this application, the available frequency range can be divided into multiple sub-bands. These multiple sub-bands have different frequency ranges. A frequency range refers to a frequency band. Different frequency ranges mean that the frequency bands of the multiple sub-bands are different. Different frequency ranges mean that the frequency ranges of the sub-bands do not overlap, so as to allow devices to use sub-bands with different frequency ranges and reduce interference between devices. Optionally, different frequency ranges of multiple sub-bands may also include different bandwidths within the frequency domain.

[0083] At least two of the multiple subbands have different bandwidths. One of the multiple subbands has a bandwidth greater than another. For example, the multiple subbands include at least one wide subband and at least one narrow subband.

[0084] The narrower the subband bandwidth, the more subbands can be obtained by dividing the available frequency range. More subbands mean more devices can use those subbands within the available frequency range, and more devices can be deployed within the area. This allows more devices within the area to use subbands with different frequency ranges, reducing interference between devices.

[0085] In some embodiments, at least one of the multiple subbands has a frequency range greater than or equal to a bandwidth threshold to meet the required range resolution. A subband's frequency range being greater than or equal to the bandwidth threshold also means that the subband's bandwidth is greater than or equal to the bandwidth threshold. The more subbands with bandwidths greater than or equal to the bandwidth threshold, the more devices can achieve the required range resolution at the same time. Any number of subbands smaller than the bandwidth threshold can be divided into the remaining frequency range, excluding specific subbands. The narrower the bandwidth of a subband, the more subbands can be obtained by dividing the remaining frequency range.

[0086] For ease of description, subbands that are greater than or equal to the bandwidth threshold will be referred to as special subbands, and subbands that are less than the bandwidth threshold will be referred to as ordinary subbands.

[0087] In the case where multiple subbands include a special subband, the special subband is the subband with the largest bandwidth among the multiple subbands.

[0088] In the case of multiple subbands including two or more special subbands, the special subband with the largest bandwidth among the two or more special subbands is the subband with the largest bandwidth among the multiple subbands.

[0089] In the case where multiple subbands include two or more special subbands, the bandwidths of the two or more special subbands may be the same or different. For example, multiple subbands include a first special subband and a second special subband, where both the first special subband and the second special subband are greater than the bandwidth threshold; or, both the first special subband and the second special subband are equal to the bandwidth threshold; or, the first special subband is greater than the bandwidth threshold and the second special subband is equal to the bandwidth threshold.

[0090] In the case of multiple subbands including two or more ordinary subbands, the bandwidth of the ordinary subbands other than the special subbands may be the same or different.

[0091] In some embodiments, the number of subbands included in the available frequency range is greater than or equal to the number of devices, so that different devices can use subbands of different frequency ranges at the same time, thereby reducing interference between devices.

[0092] For example, the available frequency range can be divided into multiple sub-bands based on the number of devices. For instance, as shown in Figure 3(a), assuming there are 3 devices, the available frequency range is divided into 3 sub-bands. These 3 sub-bands include sub-band f1, sub-band f2, and sub-band f3. The frequency range of sub-band f1 is greater than or equal to the bandwidth threshold. Sub-band f1 is a special sub-band. The bandwidth of sub-band f2 is the same as that of sub-band f3. The available frequency range is 80 GHz to 80.5 GHz, with sub-band f1 having a frequency range of [80 GHz, 80.3 GHz], sub-band f2 having a frequency range of [80.3 GHz, 80.4 GHz], and sub-band f3 having a frequency range of [80.4 GHz, 80.5 GHz].

[0093] For example, as shown in Figure 3(b), the difference from Figure 3(a) is that the frequency range of subband f1 is greater than or equal to the bandwidth threshold. The bandwidth of subband f1 is greater than the bandwidth of subband f2. The bandwidth of subband f2 is greater than the bandwidth of subband f3.

[0094] For example, as shown in Figure 3(c), the difference from Figure 3(a) and (b) is that the number of devices is 3, dividing the available frequency range into 4 sub-bands. The 4 sub-bands include sub-band f1, sub-band f2, sub-band f3, and sub-band f4. The frequency range of sub-band f1 is greater than or equal to the bandwidth threshold. The bandwidths of sub-band f2, sub-band f3, and sub-band f4 are the same.

[0095] For example, as shown in Figure 3(d), the difference from Figure 3(c) is that the bandwidth of subband f2 is the same as that of subband f3, while the bandwidth of subband f4 is less than that of subband f3. The bandwidth of subband f4 is less than that of subband f2.

[0096] In this application, the method of dividing the available frequency range into multiple sub-bands is not unique. Multiple sub-bands need to meet the following conditions: ① All sub-bands are within the available frequency range and there is no overlap between the multiple sub-bands; ② The frequency range of at least one sub-band is greater than or equal to the bandwidth threshold; ③ The number of sub-bands is greater than or equal to the number of devices in the area.

[0097] Optionally, there is usually a guard interval between subbands to deal with the non-ideal nature of the devices and to ensure that the devices operating in each subband do not interfere with each other.

[0098] Step 220: Configure sub-bands for the device.

[0099] Configure the sub-band used by each of the multiple devices at the initial time. At least one sub-band has a frequency range greater than or equal to a bandwidth threshold. If the number of sub-bands is greater than or equal to the number of devices, at the initial time, at least one device uses a sub-band with a frequency range greater than or equal to the bandwidth threshold, while the other devices use sub-bands with frequency ranges less than the bandwidth threshold. Optionally, if the number of sub-bands is greater than the number of devices, at the initial time, all devices use sub-bands with frequency ranges less than the bandwidth threshold.

[0100] To enable multiple devices to alternately use a special subband to transmit broadband signals while maintaining broadband resolution, and to enable multiple devices to alternately use other subbands besides the special subband to transmit narrowband signals, the number of frequency divisions allowed within the regulated frequency band is increased. In some embodiments, multiple transmission modes are configured for the devices. Transmission modes indicate the correspondence between multiple devices and multiple subbands within the available frequency range. Different transmission modes result in different correspondences between multiple devices and multiple subbands within the available frequency range. At different times, multiple devices use different transmission modes to transmit signals, ensuring that at least one device uses a different subband, thus enabling multiple devices to alternately transmit broadband and narrowband signals.

[0101] In the first possible implementation, the number of subbands equals the number of devices, with one device corresponding to one subband. Multiple devices may correspond to different subbands. For different transmission modes, at least one of the multiple devices may correspond to a different subband.

[0102] In cases where multiple subbands comprise one special subband and at least one general subband, each transmission mode designates one of the multiple devices to correspond to the special subband. The other devices among the multiple devices, besides the one corresponding to the special subband, correspond to the general subband.

[0103] In some embodiments, different transmission modes correspond to different devices for special subbands and different devices for ordinary subbands.

[0104] For example, as shown in Figure 4(a), the three subbands include subband f1, subband f2, and subband f3. Subband f1 is a special subband. Subband f2 and subband f3 are ordinary subbands, respectively. The correspondence indicated by transmission mode 1 includes device 1 corresponding to subband f1, device 2 corresponding to subband f2, and device 3 corresponding to subband f3. The correspondence indicated by transmission mode 2 includes device 3 corresponding to subband f1, device 1 corresponding to subband f2, and device 2 corresponding to subband f3.

[0105] As shown in Figure 4(a), transmission mode 1 indicates that the special subband corresponds to device 1, and transmission mode 2 indicates that the device corresponding to the special subband has changed to device 3. Transmission mode 1 indicates that subband f2 corresponds to device 2, and transmission mode 2 indicates that the device corresponding to subband f2 has changed to device 1. Transmission mode 1 indicates that subband f3 corresponds to device 3, and transmission mode 2 indicates that the device corresponding to subband f3 has changed to device 2.

[0106] In some embodiments, different transmission modes correspond to different devices for special subbands, while at least one ordinary subband corresponds to the same device.

[0107] For example, as shown in Figure 4(a), the correspondence indicated by transmission mode 3 includes device 3 corresponding to subband f1, device 2 corresponding to subband f2, and device 1 corresponding to subband f3.

[0108] As shown in Figure 4(a), transmission mode 1 indicates that the special subband corresponds to device 1, and transmission mode 3 indicates that the device corresponding to the special subband has changed to device 3. Transmission mode 1 indicates that subband f2 corresponds to device 2, and transmission mode 3 indicates that subband f2 still corresponds to device 2. Transmission mode 1 indicates that subband f3 corresponds to device 3, and transmission mode 3 indicates that the device corresponding to subband f3 has changed to device 1.

[0109] In some embodiments, for different transmission modes, the special subbands correspond to the same devices, while the ordinary subbands correspond to different devices.

[0110] For example, as shown in Figure 4(a), the correspondence indicated by transmission mode 4 includes device 1 corresponding to subband f1, device 3 corresponding to subband f2, and device 2 corresponding to subband f3.

[0111] As shown in Figure 4(a), transmission mode 1 indicates that the special subband corresponds to device 1, and transmission mode 4 also indicates that the special subband corresponds to device 1. Transmission mode 1 indicates that subband f2 corresponds to device 2, and transmission mode 4 indicates that the device corresponding to subband f2 changes to device 3. Transmission mode 1 indicates that subband f3 corresponds to device 3, and transmission mode 4 indicates that the device corresponding to subband f3 changes to device 2.

[0112] In cases where multiple subbands comprise two or more special subbands and at least one general subband, each transmission mode indicates that two or more devices among the multiple devices correspond to the special subband. The other devices among the multiple devices, besides those corresponding to the special subband, correspond to the general subband.

[0113] In some embodiments, different transmission modes correspond to different devices for special subbands and different devices for ordinary subbands.

[0114] For example, as shown in Figure 4(b), the four subbands include subband f1, subband f2, subband f3, and subband f4. Subbands f1 and f2 are special subbands. Subbands f3 and f4 are ordinary subbands. The correspondence indicated by transmission mode 1 includes device 1 corresponding to subband f1, device 2 corresponding to subband f2, device 3 corresponding to subband f3, and device 4 corresponding to subband f4. The correspondence indicated by transmission mode 2 includes device 4 corresponding to subband f1, device 3 corresponding to subband f2, device 2 corresponding to subband f3, and device 1 corresponding to subband f4.

[0115] As shown in Figure 4(b), transmission mode 1 indicates that special subband f1 corresponds to device 1, and transmission mode 2 indicates that the device corresponding to special subband f1 is changed to device 4. Transmission mode 1 indicates that special subband f2 corresponds to device 2, and transmission mode 2 indicates that the device corresponding to special subband f2 is changed to device 3. Transmission mode 1 indicates that subband f3 corresponds to device 3, and transmission mode 2 indicates that the device corresponding to subband f3 is changed to device 2. Transmission mode 1 indicates that subband f4 corresponds to device 4, and transmission mode 2 indicates that the device corresponding to subband f4 is changed to device 1.

[0116] In some embodiments, different transmission modes correspond to different devices for special subbands, while at least one ordinary subband corresponds to the same device.

[0117] For example, as shown in Figure 4(b), the correspondence indicated by transmission mode 3 includes device 3 corresponding to subband f1, device 2 corresponding to subband f2, device 1 corresponding to subband f3, and device 4 corresponding to subband f4.

[0118] As shown in Figure 4(b), transmission mode 1 indicates that special subband f1 corresponds to device 1, while transmission mode 3 indicates that the device corresponding to special subband f1 changes to device 3. Transmission mode 1 indicates that special subband f2 corresponds to device 2, while transmission mode 3 indicates that special subband f2 still corresponds to device 2. Transmission mode 1 indicates that subband f3 corresponds to device 3, while transmission mode 3 indicates that subband f3 corresponds to device 1. Transmission mode 1 indicates that subband f4 corresponds to device 4, while transmission mode 3 indicates that subband f4 still corresponds to device 4.

[0119] In some embodiments, for different transmission modes, the special subbands correspond to the same devices, while the ordinary subbands correspond to different devices.

[0120] For example, as shown in Figure 4(b), the correspondence indicated by transmission mode 4 includes device 1 corresponding to subband f1, device 2 corresponding to subband f2, device 4 corresponding to subband f3, and device 3 corresponding to subband f4.

[0121] As shown in Figure 4(b), transmission mode 1 indicates that special subband f1 corresponds to device 1, and transmission mode 4 also indicates that special subband f1 corresponds to device 1. Transmission mode 1 indicates that special subband f2 corresponds to device 2, and transmission mode 4 also indicates that special subband f2 corresponds to device 2. Transmission mode 1 indicates that subband f3 corresponds to device 3, and transmission mode 4 indicates that subband f3 corresponds to device 4. Transmission mode 1 indicates that subband f4 corresponds to device 4, and transmission mode 4 indicates that subband f4 corresponds to device 3.

[0122] In the second possible implementation, the number of subbands is greater than the number of devices, with one device corresponding to one subband. Multiple devices may correspond to portions of multiple subbands within the available frequency range. Multiple devices may correspond to different subbands. For different transmission modes, at least one of the multiple devices may correspond to a different subband.

[0123] For various possible schemes involving multiple devices corresponding to portions of multiple subbands within the available frequency range, refer to the explanation of the transmission mode in the first possible implementation described above. The difference from the first possible implementation is that a transmission mode is used to indicate that each of the multiple devices corresponds to a normal subband in the multiple subbands.

[0124] For example, as shown in Figure 5, there are four sub-bands: sub-band f1, sub-band f2, sub-band f3, and sub-band f4. Sub-band f1 is a special sub-band. Sub-bands f2, f3, and f4 are ordinary sub-bands.

[0125] The correspondence indicated by transmission mode 1 includes device 1 corresponding to subband f1, device 2 corresponding to subband f2, and device 3 corresponding to subband f3.

[0126] The correspondence indicated by transmission mode 2 includes the correspondence between device 3 and subband f1, device 1 and subband f2, and device 2 and subband f3.

[0127] The correspondence indicated by transmission mode 3 includes the correspondence between device 2 and subband f1, device 3 and subband f2, and device 1 and subband f3.

[0128] The correspondence indicated by transmission mode 4 includes the correspondence between device 3 and subband f2, device 1 and subband f3, and device 2 and subband f4.

[0129] As shown in Figure 5, transmission mode 1 indicates that the special subband corresponds to device 1, transmission mode 2 indicates that the device corresponding to the special subband has changed to device 3, transmission mode 3 indicates that the device corresponding to the special subband has changed to device 2, and transmission mode 4 indicates that devices 1, 2, and 3 all correspond to the normal subband.

[0130] Multiple devices can use subbands with smaller bandwidths to transmit signals; for example, narrow subbands can transmit narrowband signals, thus reducing the power consumption of the devices.

[0131] In some embodiments, a detection period is configured for the device. The detection period may also be referred to as the detection frame rate, observation frame rate, or observation period.

[0132] Optionally, the detection period is used to indicate the period of the transmitted signal. For example, the detection frame rate is 10Hz, meaning the detection period is 100ms, and Δt = 100ms. During each detection period, the device transmits a signal, which includes one or more signals, i.e., a set of signal waveforms. The device receives the echo signal, processes and detects the echo signal to obtain the target's detection information (e.g., point cloud).

[0133] Optionally, the detection period is used to indicate the period at which the transmission mode is updated. The device updates the transmission mode at least once within at least one detection period.

[0134] For example, the device updates its transmission mode in each detection cycle, transmitting a signal based on the new mode. Alternatively, the device may not change its transmission mode during a single detection cycle, transmitting a signal based on one mode. In different detection cycles, the device may use different transmission modes. For instance, in the first detection cycle, the device might transmit a signal based on the first transmission mode. In the second detection cycle, the device might transmit a signal based on the second transmission mode.

[0135] For example, the device updates its transmission mode in at least two detection cycles, transmitting signals based on a new transmission mode. For instance, in the first and second detection cycles, the device transmits signals based on the first transmission mode. In the third detection cycle, the device transmits signals based on the second transmission mode.

[0136] In this embodiment of the application, the number and pattern of the interval detection cycles for updating the transmission mode are not limited. For example, in the first and second detection cycles, the device transmits a signal based on the first transmission mode. In the third detection cycle, the device transmits a signal based on the second transmission mode. In the fourth detection cycle, the device transmits a signal based on the third transmission mode.

[0137] Optionally, a handover policy can be configured for the device. The handover policy indicates the method used to switch transmission modes.

[0138] Step 230: Enable device sensing function.

[0139] Once the frequency domain resources used by multiple devices in the area have been configured, and the multiple devices have enabled their sensing functions, they will perform detection tasks based on the configured resources.

[0140] Multiple devices transmit signals based on multiple subbands within the available frequency range, meaning each device selects a subband from multiple subbands that is different from the subbands used by other devices to transmit signals in order to detect targets.

[0141] In some embodiments, multiple devices use subbands with different frequency ranges to reduce interference between devices. At least one of the multiple subbands has a frequency range greater than or equal to a bandwidth threshold to meet the required range resolution. At least one of the multiple devices uses different subbands, alternating between subbands with frequency ranges greater than or equal to the bandwidth threshold, enabling multiple devices to alternately transmit broadband and narrowband signals.

[0142] When the number of subbands is greater than or equal to the number of devices in the area, at least one of the devices uses a subband with a frequency range greater than or equal to the bandwidth threshold during the same time period. This allows the device to meet the required range resolution and distinguish between two nearby targets. The other devices use subbands with a frequency range less than the bandwidth threshold.

[0143] Optionally, when the number of subbands exceeds the number of devices in the area, the frequency range of the subband used by each device among multiple devices is less than the bandwidth threshold during the same time period. The device can transmit signals using narrow subbands while still maintaining its detection capability when transmitting signals using wide subbands, thus reducing the device's power consumption.

[0144] When the number of subbands is greater than or equal to the number of devices in the area, at least one of the devices changes the subband it uses during different time periods. In time period i, the device selects one subband from the multiple subbands to replace the subband used by the device in time period i-1. The frequency range of the subband used by the device in time period i is different from the frequency range of the subband used by the device in time period i-1, where i is an integer. For example, time period 0 represents the initial time period, and time period 1 is the next time period after time period 0. The duration of time period i may be the same as or different from the duration of time period i-1.

[0145] In some embodiments, multiple devices are configured with multiple transmission modes, and the multiple devices transmit signals based on the multiple transmission modes. Figure 6 is a schematic flowchart of a target detection method provided in this application. For example, the multiple transmission modes include a first transmission mode and a second transmission mode. As shown in Figure 6, the method includes the following steps.

[0146] Step 610: In the first time period, multiple devices transmit a first signal based on a first transmission mode, the first transmission mode being used to indicate the first correspondence between the multiple devices and multiple sub-bands within the available frequency range.

[0147] Step 620: In the second time period, multiple devices transmit a second signal based on a second transmission mode, which is used to indicate the second correspondence between the multiple devices and multiple sub-bands within the available frequency range.

[0148] During the same period, multiple devices transmit signals based on a single transmission mode; that is, the transmission mode used by multiple devices remains unchanged within the same time period. In other words, the sub-band used by each of the multiple devices remains constant.

[0149] Furthermore, the frequency ranges of the multiple sub-bands are different. At the same time, multiple devices use different frequency ranges of the sub-bands. That is, when multiple devices transmit signals at the same time, any two devices use different frequency ranges of the sub-bands, and no two devices use the same sub-band.

[0150] The first and second signals are used to detect targets. Because each device uses a different sub-band for transmission, each device transmits a different signal. The first signal includes detection signals transmitted by multiple devices based on a first transmission mode. The second signal includes detection signals transmitted by multiple devices based on a second transmission mode. The targets detected by each device may also be different.

[0151] In some embodiments, multiple devices transmit signals once or multiple times based on a single transmission mode within the same time period. Multiple devices transmitting signals multiple times based on a single transmission mode means that multiple devices transmit signals based on a single transmission mode at different times within the same time period. Each signal transmitted by a device contains one or more signals, i.e., a set of signal waveforms.

[0152] In some embodiments, multiple devices periodically transmit signals based on a transmission mode within the same time period. For example, the period refers to the detection period described in the above embodiments. That is, multiple devices transmit signals based on a transmission mode according to the detection period. Optionally, a time period includes one detection period. That is, the duration of a time period is equal to the detection period. Within the detection period, multiple devices transmit a signal once based on a transmission mode. Alternatively, a time period includes multiple detection periods, that is, the duration of a time period is equal to multiple detection periods. Within each detection period of the same time period, multiple devices transmit a signal once based on a transmission mode.

[0153] For example, in the first time period, multiple devices transmit signals once or multiple times based on the first transmission mode. In the second time period, multiple devices transmit signals once or multiple times based on the second transmission mode.

[0154] For example, as shown in Figure 7(a), the first time period is equal to the detection period, during which multiple devices transmit a signal once based on the first transmission mode. The second time period is equal to the detection period, during which multiple devices transmit a signal once based on the second transmission mode.

[0155] As shown in Figure 7(b), the first time period is equal to at least two detection cycles, in which multiple devices transmit a signal once based on the first transmission mode during each detection cycle. The second time period is equal to at least two detection cycles, in which multiple devices transmit a signal once based on the second transmission mode during each detection cycle.

[0156] As shown in Figure 7(c), the first time period is equal to the detection period, during which multiple devices transmit a signal once based on the first transmission mode. The second time period is equal to at least two detection periods, during which multiple devices transmit a signal once based on the second transmission mode in each detection period.

[0157] In both the first and second transmission modes, at least one of the multiple devices corresponds to a different subband. That is, the subband corresponding to at least one device in the second transmission mode is different from the subband corresponding to at least one device in the first transmission mode.

[0158] In some embodiments, when the number of subbands is greater than or equal to the number of devices in the area, and when multiple devices transmit a first signal based on a first transmission mode, the frequency range of the subband used by at least one of the multiple devices is greater than or equal to a bandwidth threshold. When multiple devices transmit a second signal based on a second transmission mode, the frequency range of the subband used by at least one of the multiple devices is greater than or equal to the bandwidth threshold. By alternately using subbands with frequency ranges greater than or equal to the bandwidth threshold, multiple devices can alternately transmit broadband and narrowband signals.

[0159] Optionally, if the number of sub-bands is greater than the number of devices in the area, the method further includes step 630.

[0160] Step 630: In the third time period, multiple devices transmit a third signal based on a third transmission mode. The third transmission mode is used to indicate the third correspondence between the multiple devices and multiple sub-bands within the available frequency range.

[0161] When multiple devices transmit a third signal based on a third transmission mode, the frequency range of the sub-band used by each device is less than the bandwidth threshold. In both the first and third transmission modes, at least one device among the multiple devices corresponds to a different sub-band. Similarly, in the second and third transmission modes, at least one device among the multiple devices corresponds to a different sub-band. That is, the sub-band corresponding to at least one device in the third transmission mode is different from the sub-band corresponding to at least one device in the first transmission mode. The sub-band corresponding to at least one device in the third transmission mode is also different from the sub-band corresponding to at least one device in the second transmission mode.

[0162] This application does not limit the duration of each time period or the time interval between multiple signals transmitted by multiple devices in the same time period.

[0163] At different times, multiple devices transmit signals using different transmission modes, ensuring that at least one device uses a different subband. These subbands, with frequency ranges greater than or equal to a bandwidth threshold, alternately use each other, enabling the devices to alternately transmit broadband and narrowband signals. The transmission modes used by the multiple devices change at different times. At least one device uses a different subband. This application does not limit the manner in which the multiple devices change their transmission modes.

[0164] Optionally, in this application, the first time period can also be referred to as time period 1, the second time period as time period 2, and the third time period as time period 3. The first transmission mode can also be referred to as transmission mode 1, the second transmission mode as transmission mode 2, and the third transmission mode as transmission mode 3. The first subband can also be referred to as subband f1, the second subband as subband f2, and the third subband as subband f3. This is a unified explanation here and will not be repeated below.

[0165] The following examples illustrate how multiple devices transmit signals based on various transmission modes.

[0166] In some embodiments, when the number of subbands is greater than or equal to the number of devices in the area, each device among the multiple devices uses a different subband at different times. For example, each transmission mode indicates that one device among the multiple devices corresponds to a specific subband. The other devices among the multiple devices, besides the device corresponding to the specific subband, correspond to ordinary subbands. The devices corresponding to the same subband indicated by each transmission mode are different.

[0167] For example, as shown in Figure 8(a), there are three sub-bands: sub-band f1, sub-band f2, and sub-band f3. Sub-band f1 is a special sub-band. Sub-band f2 and sub-band f3 are ordinary sub-bands, respectively.

[0168] During time period 1, devices 1, 2, and 3 transmit signals based on transmission mode 1. Device 1 transmits signals based on subband f1. Device 2 transmits signals based on subband f2. Device 3 transmits signals based on subband f3. Device 1 uses a special subband to transmit signals, while devices 2 and 3 use normal subbands.

[0169] During time period 2, devices 1, 2, and 3 transmit signals based on transmission mode 2. Device 1 transmits signals based on subband f2, device 2 transmits signals based on subband f3, and device 3 transmits signals based on subband f1. Compared to time period 1, device 1's subband f1 changes to subband f2, and it transmits signals based on subband f2. Device 2's subband f2 changes to subband f3, and it transmits signals based on subband f3. Device 3's subband f3 changes to subband f1, and it transmits signals based on subband f1. Device 3 uses a special subband to transmit signals, while devices 2 and 1 use normal subbands to transmit signals.

[0170] During time period 3, devices 1, 2, and 3 transmit signals based on transmission mode 3. Device 1 transmits signals based on subband f3, device 2 transmits signals based on subband f1, and device 3 transmits signals based on subband f2. Compared to time period 2, subband f2 for device 1 changes to subband f3, and it transmits signals based on subband f3. Subband f3 for device 2 changes to subband f1, and it transmits signals based on subband f1. Subband f1 for device 3 changes to subband f2, and it transmits signals based on subband f2. Device 2 uses a special subband to transmit signals, while devices 3 and 1 use normal subbands to transmit signals.

[0171] In this way, devices 1, 2 and 3 alternately use special subbands to transmit signals, enabling them to transmit broadband signals using wide subbands in a time-sharing manner, thus possessing broadband resolution capabilities.

[0172] In some embodiments, when the number of subbands is greater than or equal to the number of devices in the area, at least one of the devices uses a different subband at different times. For example, each transmission mode indicates that one of the devices corresponds to a special subband. The other devices, besides the one corresponding to the special subband, correspond to a normal subband. The subband corresponding to at least one device indicated by each transmission mode remains unchanged.

[0173] For example, as shown in Figure 8(b), during time period 1, devices 1, 2, and 3 transmit signals based on transmission mode 1. Device 1 transmits signals based on subband f1. Device 2 transmits signals based on subband f2. Device 3 transmits signals based on subband f3. Device 1 uses a special subband to transmit signals, while devices 2 and 3 use normal subbands.

[0174] During time period 2, devices 1, 2, and 3 transmit signals based on transmission mode 2. Device 1 transmits signals based on subband f2, device 2 transmits signals based on subband f1, and device 3 transmits signals based on subband f3. Compared to time period 1, device 1's subband f1 changes to subband f2, and it transmits signals based on subband f2. Device 2's subband f2 changes to subband f1, and it transmits signals based on subband f1. Device 3's subband f3 remains unchanged, and it transmits signals based on subband f3. Device 2 uses a special subband to transmit signals, while devices 1 and 3 use normal subbands to transmit signals.

[0175] During time period 3, devices 1, 2, and 3 transmit signals based on transmission mode 3. Device 1 transmits signals based on subband f2, device 2 transmits signals based on subband f3, and device 3 transmits signals based on subband f1. Compared to time period 2, device 2's subband f1 changes to subband f3, and it transmits signals based on subband f3. Device 3's subband f3 changes to subband f1, and it transmits signals based on subband f1. Device 1's subband f2 remains unchanged, and it transmits signals based on subband f2. Device 3 uses a special subband to transmit signals, while devices 2 and 1 use normal subbands to transmit signals.

[0176] In this way, devices 1, 2 and 3 alternately use special subbands to transmit signals, enabling them to transmit broadband signals using wide subbands in a time-sharing manner, thus possessing broadband resolution capabilities.

[0177] Optionally, if the number of subbands is greater than the number of devices in the area, at least one of the devices may use a different subband at different times. The transmission mode is used to indicate that the frequency range of the subband used by each of the multiple devices is less than the bandwidth threshold.

[0178] For example, as shown in Figure 8(c), the four subbands include subband f1, subband f2, subband f3, and subband f4. Subband f1 is a special subband. Subbands f2, f3, and f4 are ordinary subbands. The difference from Figure 8(a) is that in time periods 1, 2, and 3, devices 1, 2, and 3 do not use subband f4. Devices 1, 2, and 3 transmit signals based on transmission modes 1 to 3, as illustrated in Figure 8(a).

[0179] For example, as shown in Figure 8(d), the difference from Figure 8(a) is that in time periods 1, 2, and 3, devices 1, 2, and 3 do not use subband f4. Devices 1, 2, and 3 transmit signals based on transmission modes 1 to 3, as illustrated in Figure 8(b).

[0180] As shown in Figures 8(c) and (d), during time period 4, devices 1, 2, and 3 transmit signals based on transmission mode 4. Device 1 transmits signals based on subband f3, device 2 transmits signals based on subband f4, and device 3 transmits signals based on subband f2. Devices 1, 2, and 3 all use ordinary subbands to transmit signals.

[0181] During time slot 5, devices 1, 2, and 3 transmit signals based on transmission mode 5. Device 1 transmits signals based on subband f3, device 2 transmits signals based on subband f2, and device 3 transmits signals based on subband f4. Devices 1, 2, and 3 all use ordinary subbands to transmit signals.

[0182] As shown in Figure 8(c), relative to time period 3, in time period 4, subband f1 corresponding to device 2 changes to subband f4, and signals are transmitted based on subband f4. Subband f2 corresponding to device 3 remains unchanged, and signals are transmitted based on subband f2. Subband f3 corresponding to device 1 remains unchanged, and signals are transmitted based on subband f3.

[0183] Compared to time period 4, in time period 5, subband f4 corresponding to device 2 changes to subband f2, and signals are transmitted based on subband f2. Subband f2 corresponding to device 3 changes to subband f4, and signals are transmitted based on subband f4. Subband f3 corresponding to device 1 remains unchanged, and signals are transmitted based on subband f3.

[0184] As shown in Figure 8(d), relative to time period 3, in time period 4, subband f2 corresponding to device 1 changes to subband f3, and signals are transmitted based on subband f3. Subband f3 corresponding to device 2 changes to subband f4, and signals are transmitted based on subband f4. Subband f1 corresponding to device 3 changes to subband f2, and signals are transmitted based on subband f2.

[0185] Compared to time period 4, in time period 5, subband f4 corresponding to device 2 changes to subband f2, and signals are transmitted based on subband f2. Subband f2 corresponding to device 3 changes to subband f4, and signals are transmitted based on subband f4. Subband f3 corresponding to device 1 remains unchanged, and signals are transmitted based on subband f3.

[0186] The switching methods for the various transmission modes described above are merely illustrative examples. In practical applications, other switching methods may also exist. For instance, the number of subbands included in the available frequency range may be greater than the number of devices; in the first transmission mode, the first device corresponds to the first subband; in the second transmission mode, the first device corresponds to the second subband. The subbands corresponding to devices other than the first device remain unchanged. Further details are omitted.

[0187] The target detection method provided in this application divides the available frequency range into multiple sub-bands of different frequency ranges. For example, these sub-bands include wide and narrow sub-bands, and multiple devices reuse these sub-bands. During the same time period, multiple devices use sub-bands of different frequency ranges, reducing mutual interference between the devices detecting targets. At different times, multiple devices use different transmission modes to transmit signals, meaning at least one device switches the sub-band it uses. For example, devices switch between wide and narrow sub-bands, alternating between transmitting wideband and narrowband signals. Using a wide sub-band to transmit a wideband signal gives the device wideband resolution capability, meaning it has high range resolution for target detection. Multiple devices taking turns using a wide sub-band to transmit a wideband signal ensures each device has high range resolution for target detection. Using a narrow sub-band to transmit a narrowband signal maintains the device's detection capability even when using a wideband signal. Multiple devices using a narrow sub-band to transmit a narrowband signal increase the number of sub-bands within the limited available frequency range, thereby increasing the number of devices capable of detecting targets. This increases the number of devices, ensuring that multiple devices have high range resolution when detecting targets, improving the anti-interference capability of multiple devices, reducing mutual interference between multiple devices when detecting targets, and improving the accuracy of target detection.

[0188] Multiple devices transmit signals across multiple sub-bands within the available frequency band, and each device receives the echo signal from the detected signal. Signal processing is performed on the echo signal to obtain detection information about the detected target. Signal processing includes signal demodulation, sampling, matched filtering, clutter suppression, velocity spectrum imaging, or constant false alarm rate (CFAR) detection. For example, the detection information includes a point cloud of the first target and the attributes of each point in the point cloud. Attributes include, for example, range and velocity.

[0189] The following example uses a device to illustrate the target detection process.

[0190] During the first time period, the first device transmits a first signal according to the first sub-band indicated by the first transmission mode, and the first device receives the echo signal of the first signal and detects the first target.

[0191] In some embodiments, after the first device detects the first target, the target state of the first target is updated. The target state is used to indicate the attributes of the first target.

[0192] Optionally, the first device transmits a second signal according to the first sub-band indicated by the first transmission mode, detects the first target, and updates the target state of the first target according to update parameters. The update parameters are related to the sub-band used by the device to transmit the signal to detect the target. For example, the update parameters are related to the first sub-band used by the first device.

[0193] Optionally, during the second time period, the first device transmits a second signal according to the second subband indicated by the second transmission mode, detecting the first target. The target status of the first target is updated according to update parameters. For example, the update parameters are related to the second subband used by the first device.

[0194] In some embodiments, before updating the target state of a target according to update parameters, it is determined whether the newly detected target is associated with the already detected target.

[0195] If, based on the correlation parameters, it is determined that the target detected based on the currently used subband is not correlated with the previously detected targets, a new target is added.

[0196] If the target detected based on the current subband is associated with the previously detected target based on the association parameters, the target status of the target is updated based on the update parameters.

[0197] For example, before updating the target state of the first target based on the update parameters, it is determined whether the newly detected target is related to the first target.

[0198] If the detected target is determined to be associated with the first target based on the association parameters, the target state of the first target is updated according to the update parameters. The association parameters are related to the subband used by the device to detect the target by transmitting signals. For example, the association parameters are related to the first subband or the second subband used by the first device.

[0199] In some embodiments, the transmission mode is adjusted based on the correlation results between the detected target and the previously detected target. The correlation results indicate the degree of correlation between the detected target and the previously detected target. For example, the transmission mode is adjusted based on the correlation results between a target detected based on a first subband and a first target.

[0200] For example, when a first device transmits a first signal according to a first subband indicated by a first transmission mode to detect a first target, the first transmission mode is adjusted to a second transmission mode based on the correlation result between the target detected by the first subband and the first target.

[0201] Optionally, the first subband used by the first device can be adjusted to a second subband based on the correlation between the target detected based on the first subband and the first target. For example, the correlation parameter includes a correlation threshold. If the correlation result indicates that the correlation between the target detected based on the first subband and the first target is less than or equal to the correlation threshold, it indicates that the difference between the target detected based on the first subband and the first target is significant, and the first subband used by the first device is adjusted to a second subband. The frequency range of the second subband is greater than that of the first subband. This allows for the use of a larger bandwidth subband to detect targets, improving the accuracy of target detection.

[0202] If, based on the correlation parameters, it is determined that the target detected based on the first sub-band is not correlated with the first target, a new first target is added.

[0203] Associating the target with the subband currently used by the device, and associating the target status update with the subband currently used by the device, allows the device to maintain its detection capability when transmitting signals using a smaller bandwidth subband.

[0204] Optionally, in some embodiments, multiple devices are configured with a correspondence between time periods and transmission modes. During a time period, the device transmits a signal according to the transmission mode corresponding to that time period. The correspondence between each time period and transmission mode is shown in Figure 8.

[0205] Optionally, in other embodiments, multiple devices are configured with multiple transmission modes and an initial transmission mode. After the initial time, the devices adaptively switch transmission modes. When the subband used by one device changes, other devices also update the subbands they use accordingly. For example, if the first subband used by the first device is adjusted to the second subband, the second device accordingly adjusts the second subband used by the second device to the first subband based on the adjustment result of the first device. For example, as shown in Figure 8(b), in time period 1, device 1 transmits a signal based on subband f1. Device 2 transmits a signal based on subband f2. Relative to time period 1, in time period 2, the subband f3 corresponding to device 3 remains unchanged, and it transmits a signal based on subband f1. The subband f1 corresponding to device 1 changes to subband f2, and it transmits a signal based on subband f2. To ensure that each device uses a different subband, the subband f2 corresponding to device 2 is changed to subband f1, and it transmits a signal based on subband f1.

[0206] Optionally, one of the multiple devices may act as a control device, instructing the other devices to switch transmission modes. For example, the first device may act as the control device. If the first device adjusts its first subband to the second subband, it sends an instruction to the second device, instructing it to adjust the second subband back to the first subband. Similarly, if the third device adjusts its third subband to the second subband, and reports the adjustment result to the first device, the first device sends an instruction to the second device, instructing it to adjust the second subband back to the third subband.

[0207] Optionally, the target detection system also includes a control device that controls multiple devices to switch transmission modes. For example, the first device adjusts its first subband to a second subband. The first device reports the adjustment result to the control device. Correspondingly, the control device sends an instruction to the second device, instructing it to adjust its second subband to the first subband.

[0208] This section provides an example of a device for controlling the switching of transmission modes. The specific method for switching transmission modes is as described in the above embodiments.

[0209] The equipment uses a larger bandwidth subband to transmit signals, improving the robustness of target status updates. This ensures that no two devices use the same subband at the same time, reducing mutual interference between multiple devices detecting targets.

[0210] The process of the device performing the sensing function is a cyclical process, with the cycle period being, for example, the detection cycle described in step 220 above. This application uses the k-th cycle of a radar in a scene as an example to specifically illustrate the sensing process. As shown in Figure 9, it includes the following steps.

[0211] Step 910: Detect the target.

[0212] Radar uses subband Transmit a set of detection signals, the bandwidth of which is...

[0213] The radar receives the echo signals from this set of detection signals. Signal processing is performed on the echo signals to obtain the point cloud z of the detected target. k Signal processing includes at least one of the following: signal demodulation, sampling, matched filtering, clutter suppression, velocity spectrum imaging, or constant false alarm rate (CFAR) detection. For radars with multiple receiving channels, it also includes beamforming and angle measurement.

[0214] Point cloud z k A set of detection points Assume that the radar detects N in its kth observation. k There are several points. Each point contains physical attributes in different dimensions, such as distance and velocity. i =[r i ,v i ] T This indicates that at a distance of r i The target velocity detected at location v i The target. Radar point clouds may also contain information such as azimuth, elevation, and scattering intensity, or represent position information as three-dimensional coordinates (x, y, z). This application uses a two-dimensional model of range and velocity as an example.

[0215] Step 920: Target state prediction.

[0216] In some embodiments, target state prediction refers to obtaining the target's movement path.

[0217] Assume that after the (k-1)th observation, the radar has detected M. k-1 There are several objectives. Assume the state of the m-th objective is... The state covariance matrix of the m-th target is

[0218] In this embodiment, the state vector includes two dimensions: distance and velocity. The state vector satisfies formula (2).

[0219] The prediction of the state of the m-th target during the k-th radar observation satisfies the following formula (3).

[0220] The prediction of the state covariance matrix of the m-th target during the k-th radar observation satisfies the following formula (4).

[0221] in, Q is the predicted covariance matrix, which is a preset parameter.

[0222] Will Recorded as The embodiments of this application are not limited to the case where the state vector only contains two dimensions: distance and velocity.

[0223] Step 930: Associate the point cloud of the target with the target detected by radar.

[0224] In some embodiments, subbands are used based on radar. Set the correlation thresholds for the distance and velocity dimensions.

[0225] The distance dimension correlation threshold satisfies the following formula (5).

[0226] Where α is a fixed scaling factor and c is the speed of light.

[0227] The velocity-dimensional correlation threshold satisfies the following formula (6). h k =βΔt Formula (6)

[0228] Where β is the expected maximum acceleration of the target, in m / s². 2 .

[0229] For point cloud z k For the i-th point in the array, determine whether this point belongs to the m-th detected target. If the following formula (7) is satisfied, the association is successful.

[0230] If the following formula (7) is not satisfied, the association will fail.

[0231] Let Φ be the set of points that successfully match the target m. m ,

[0232] If Φ m Not an empty set, let the radar observation of target m in the kth round satisfy the following formula (8).

[0233] Where, |Φ m | represents the point set Φ m The number of elements in [p] i ] r Point p i The distance, [p i ] v Point p i The speed.

[0234] For a detected target, such as the m-th target, if Φ m Let m be an empty set, and let the radar observation of target m in the k-th round be denoted as . If the m-th target has not been matched with a radar measurement point for K consecutive observations, then the m-th target is eliminated. K is the threshold for controlling target elimination. After eliminating targets that meet the elimination conditions, M targets remain. k-1 ' Detected targets.

[0235] Step 940: Add a new target.

[0236] In point cloud z k In the middle, with M k-1 The set consists of points where none of the targets were successfully matched.

[0237] If Θ is not an empty set, cluster the points in Θ to obtain ΔM. k Clusters Clustering can be implemented using algorithms such as density-based spatial clustering of applications with noise (DBSCAN).

[0238] Add to For targets that have already been detected.

[0239] in, Detected targets The corresponding radar observation in the kth round is At this point, the total number of detected targets is M. k =M′ k-1 +ΔM k .

[0240] Step 950: Target status update.

[0241] Update the Kalman filter algorithm for the 1st, 2nd, ..., Mth cells. kThe state of each target. Kalman filtering satisfies the following formula (9).

[0242] Where H is the observation matrix. In this embodiment, the observation matrix is ​​a 2×2 identity matrix. G is the Kalman filter gain. The Kalman filter gain satisfies the following formula (10).

[0243] Where inv(·) represents the inversion of the matrix. The residual covariance matrix is ​​to be measured to satisfy the following formula (11).

[0244] in, The measurement of the covariance matrix is ​​related to the radar's range resolution. In one embodiment of this application, one possible... Setup method. It satisfies the following formula (12).

[0245] Where SNR represents the signal-to-noise ratio of the target, and λ represents the wavelength of the electromagnetic waves emitted by the radar.

[0246] Step 960: Switch sub-band. Continue with steps 910 through 950.

[0247] This application does not limit the specific method of switching subbands. At the same time, no two radars occupy the same subband.

[0248] In some embodiments, the radar adaptively switches subbands. For example, the radar switches the subband used by the device based on the correlation result between the target point cloud and the target. The correlation result refers to the difference between the currently predicted target point cloud and the detected target. The correlation result can also refer to the degree of correlation. The greater the difference, the less accurate the predicted point cloud is.

[0249] For example, the radar statistics show the maximum residual of the q-th radar-detected target. The maximum residual satisfies the following formula (13).

[0250] The radar with the largest residual selects subband f1 in the (k+1)th observation, while the other two radars select subbands f2 and f3 respectively.

[0251] The target detection method provided in this application divides the available frequency band into multiple sub-bands of different frequency bands, with at least two sub-bands having different bandwidths. For example, the multiple sub-bands include wide-bandwidth sub-bands and narrow-bandwidth sub-bands. At the same time, multiple devices use different frequency bands in their sub-bands, reducing mutual interference between devices. Using a wide-bandwidth sub-band enables the device to detect targets with higher range resolution. After detecting a target, the device switches from a wide-bandwidth sub-band to a narrow-bandwidth sub-band, maintaining the target state update capability of a wide-bandwidth signal even when transmitting narrow-band signals, thus reducing device power consumption. This increases the number of devices capable of detecting targets, provides high range resolution across multiple devices, and reduces mutual interference between them.

[0252] For example, Figure 10 illustrates the expected effect of a target detection method provided in this application. In the scenario shown in Figure 1, during the initial period (period 1), the radar transmits a narrow-band waveform with low range resolution, making it unable to distinguish between two vehicles at close range. During period 2, the radar switches to a wide-band waveform, for example, a subband with a bandwidth greater than the transmitted waveform, providing high range resolution and enabling the differentiation of two vehicles at close range. In subsequent periods, the radar switches to other subbands and transmits a narrow-band waveform; because the radar system has a high-resolution prior, it can still distinguish the detection as two vehicles.

[0253] It is understood that, in order to achieve the functions in the above embodiments, the device includes hardware structures and / or software modules corresponding to each function. Those skilled in the art should readily recognize that, based on the units and method steps described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0254] Figure 11 is a schematic diagram of a possible target detection device provided in this application. These target detection devices can be used to implement the functions of the devices in the above method embodiments, and therefore can also achieve the beneficial effects of the above method embodiments. In the embodiments of this application, the target detection device can be a radar as shown in Figure 1, or it can be a module (such as a chip) applied to a radar.

[0255] As shown in Figure 11, the target detection device 1100 includes a communication module 1110 and a processing module 1120. The target detection device 1100 can be applied to the radar shown in Figure 1.

[0256] Communication module 1110 is used to transmit a probe signal based on one of a plurality of subbands and to receive an echo signal. For example, communication module 1110 is used to perform step 610.

[0257] Processing module 1120 is used to switch the sub-band being used, acquire the target, and update the target status. For example, processing module 1120 is used to execute steps 910 to 960.

[0258] Storage module 1130 is used to store point clouds, target status, etc.

[0259] A more detailed description of the communication module 1110 and the processing module 1120 can be obtained directly from the relevant descriptions in the method embodiments shown in Figures 2 to 10, and will not be repeated here.

[0260] Figure 12 is a schematic diagram of the structure of a computer device 1200 provided in this application. As shown in the figure, the computer device 1200 includes a processor 1210, a bus 1220, a memory 1230, and a communication interface 1240.

[0261] It should be understood that in this embodiment, the processor 1210 may be a CPU, but it may also be other general-purpose processors, digital signal processors (DSPs), ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0262] The processor may also be a graphics processing unit (GPU), a neural network processing unit (NPU), a microprocessor, an ASIC, or one or more integrated circuits used to control the execution of the program in this application.

[0263] Communication interface 1240 is used to enable communication between computer device 1200 and external devices or components. In this application, when computer device 1200 is used to implement the functions of the devices shown in Figures 2 to 10, communication interface 1240 is used to transmit signals based on one of multiple sub-bands and to receive echo signals. Processor 1210 is used to switch the sub-band used, acquire target point clouds, and update target states.

[0264] Bus 1220 may include a pathway for transmitting information between the aforementioned components (such as processor 1210 and memory 1230). In addition to a data bus, bus 1220 may also include a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus 1220 in the figure.

[0265] As an example, computer device 1200 may include multiple processors. A processor may be a multi-core (multi-CPU) processor. Here, "processor" can refer to one or more devices, circuits, and / or computing units used to process data (e.g., computer program instructions).

[0266] It is worth noting that Figure 12 only shows an example of a computer device 1200 including a processor 1210 and a memory 1230. Here, the processor 1210 and the memory 1230 are used to indicate a type of device or equipment. In specific embodiments, the number of each type of device or equipment can be determined according to business needs.

[0267] The memory 1230 can correspond to the storage medium used in the above method embodiments for storing computer instructions, point clouds, target status and other information, such as a disk, such as a mechanical hard disk or a solid-state hard disk.

[0268] The aforementioned computer device 1200 can be a detection device such as a radar or base station.

[0269] It should be understood that the computer device 1200 according to this application may correspond to the target detection device 1100 in this application, and may correspond to the corresponding subject that executes any of the methods in Figures 2 to 10. The above and other operations and / or functions of each module in the target detection device 1100 are respectively for implementing the corresponding processes in Figures 2 to 10. For the sake of brevity, they will not be described in detail here.

[0270] This application also provides a target detection system as shown in FIG13. The target detection system includes multiple detection devices 1300, each detection device 1300 including a memory 1301, a processor 1302, a communication interface 1303, and a bus 1304. The memory 1301, the processor 1302, and the communication interface 1303 are interconnected through the bus 1304.

[0271] The memory 1301 can be a read-only memory, a static storage device, a dynamic storage device, or a random access memory. The memory 1301 can store computer instructions. When the computer instructions stored in the memory 1301 are executed by the processor 1302, the processor 1302 and the communication interface 1303 are used to execute part of the data processing methods of the software system. The memory can also store data such as point clouds and target states. For example, a portion of the storage resources in the memory 1301 is divided into an area for storing point clouds and programs that implement the functions of the embodiments of this application.

[0272] Processor 1302 may be a general-purpose CPU, an application-specific integrated circuit (ASIC), a GPU, or any combination thereof. Processor 1302 may include one or more chips. Processor 1302 may include an AI accelerator, such as an NPU.

[0273] The communication interface 1303 uses a transceiver module, such as, but not limited to, a transceiver, to enable communication between the detection device 1300 and other devices or communication networks. For example, echo signals can be received through the communication interface 1303.

[0274] Bus 1304 may include a pathway for transmitting information between various components of the detection device 1300 (e.g., memory 1301, processor 1302, communication interface 1303).

[0275] Optionally, each of the above-mentioned 1300 detection devices establishes a communication channel through a communication network.

[0276] Optionally, any one of the multiple detection devices 1300 can be used as a control device to instruct the detection device 1300 to switch the transmission mode.

[0277] Optionally, the target detection system also includes a control device that controls multiple detection devices 1300 to switch transmission modes. For example, the control device is used to configure subbands, detection periods, or switching strategies for the multiple detection devices.

[0278] The method steps in this embodiment can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a terminal device. Of course, the processor and storage medium can also exist as discrete components in a network device or terminal device.

[0279] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); or it can be a semiconductor medium, such as a solid-state drive (SSD). The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A target detection method, characterized in that, include: In the first time period, multiple devices transmit a first signal based on a first transmission mode, the first transmission mode being used to indicate a first correspondence between the multiple devices and multiple sub-bands within the available frequency range; During the second time period, the plurality of devices transmit a second signal based on a second transmission mode, the second transmission mode being used to indicate a second correspondence between the plurality of devices and a plurality of sub-bands within the available frequency range; In the second transmission mode, the subband corresponding to at least one of the plurality of devices is different from the subband corresponding to at least one device in the first transmission mode; The multiple sub-bands have different frequency ranges; at the same time, each of the multiple devices uses a different sub-band. The first signal and the second signal are used to detect the target.

2. The method according to claim 1, characterized in that, At least one of the multiple subbands has a frequency range greater than or equal to a bandwidth threshold, which is determined by the range resolution.

3. The method according to claim 2, characterized in that, When the plurality of devices transmit a first signal based on a first transmission mode, at least one of the plurality of devices uses a sub-band frequency range that is greater than or equal to the bandwidth threshold.

4. The method according to claim 2 or 3, characterized in that, When the plurality of devices transmit a second signal based on a second transmission mode, at least one of the plurality of devices uses a sub-band frequency range greater than or equal to the bandwidth threshold.

5. The method according to any one of claims 1-4, characterized in that, The number of subbands included in the available frequency range is greater than or equal to the number of devices.

6. The method according to any one of claims 2-4, characterized in that, The number of sub-bands included in the available frequency range is greater than the number of devices; During the third time period, the plurality of devices transmit a third signal based on a third transmission mode. The frequency range of the sub-band used by each of the plurality of devices is less than the bandwidth threshold. The third transmission mode is used to indicate the third correspondence between the plurality of devices and the plurality of sub-bands within the available frequency range.

7. The method according to any one of claims 1-6, characterized in that, The plurality of devices includes a first device; in the first transmission mode, the first device corresponds to a first sub-band; The method further includes: When the first device transmits a first signal based on the first sub-band, the target state of the first target is updated according to the update parameters related to the first sub-band, and the first target is the target detected by the first device based on the first sub-band.

8. The method according to claim 7, characterized in that, Update the target state of the first target according to the update parameters associated with the first sub-band, including: If the target detected by the first subband is associated with the first target based on the association parameters, the target state of the first target is updated according to the update parameters associated with the first subband, wherein the association parameters are associated with the first subband used by the first device.

9. The method according to claim 7 or 8, characterized in that, The method further includes: The first launch mode is adjusted to the second launch mode based on the correlation between the target detected by the first sub-band and the first target.

10. The method according to claim 9, characterized in that, In the first transmission mode, the first device corresponds to the first sub-band; in the second transmission mode, the first device corresponds to the second sub-band; the frequency range of the second sub-band is greater than the frequency range of the first sub-band.

11. The method according to claim 10, characterized in that, The plurality of devices further includes a second device; in the first transmission mode, the second device corresponds to the second subband; in the second transmission mode, the second device corresponds to the first subband.

12. A target detection system, characterized in that, The target detection system includes multiple devices; the multiple devices are used to perform the operational steps of the method as described in any one of claims 1-11.

13. A computer program product containing instructions, characterized in that, When the instruction is executed by the computing device, it causes the computing device to perform the operation steps of the method as described in any one of claims 1-11.

14. A computer-readable storage medium, characterized in that, It includes computer program instructions, which, when executed by a computing device, cause the computing device to perform the operational steps of the method as described in any one of claims 1-11.

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