Communication method and apparatus
This application relates to the field of wireless communications and self-driving/intelligent driving/autonomous driving vehicles, and in particular, to the field of collaborative radars. A first apparatus receives first information from a second apparatus. The first apparatus determines, based on the first information, the priorities of a plurality of time-frequency resources included in a first time-domain range. The first apparatus further selects a first time-frequency resource among the plurality of time-frequency resources. The priority of the first time-frequency resource is the highest among the priorities of the plurality of time-frequency resources. A time-frequency resource with a comparatively high priority is selected to send a radar signal, to reduce a probability of a resource collision, and reduce and/or avoid interference between radars, especially collaborative radars.
1. A communication method, comprising:
receiving, by a first apparatus, first information from a second apparatus;
determining, by the first apparatus based on the first information, priorities of a plurality of time-frequency resources comprised in a first time-domain range; and
determining, by the first apparatus, a first time-frequency resource in the plurality of time-frequency resources, wherein a priority of the first time-frequency resource is the highest among the priorities of the plurality of time-frequency resources, and the first time-frequency resource is utilized to send a radar signal.
2. The method according to claim 1 , wherein the first time-domain range is one of a plurality of time-domain ranges, and the plurality of time-domain ranges do not overlap in a time domain.
3. The method according to claim 1 , wherein:
at least two of the plurality of time-frequency resources overlap in a time domain, or
the plurality of time-frequency resources do not overlap in a frequency domain.
4. The method according to claim 1 , wherein:
the first information comprises information about at least one of one or more objects or information about a radar detection apparatus carried on the one or more objects, information about an object of the one or more objects comprising at least one of location information or a driving direction of the object, and information about a radar detection apparatus carried on the object comprising at least one of a location of the radar detection apparatus in the object or information about a time-frequency resource occupied by the radar detection apparatus; or
the first information comprises the priorities of the plurality of time-frequency resources comprised in the first time-domain range.
5. The method according to claim 1 , wherein the determining, by the first apparatus based on the first information, the priorities of the plurality of time-frequency resources comprised in the first time-domain range comprises:
determining, by the first apparatus according to a rule and based on the first information, the first priority of the first time-frequency resource comprised in the first time-domain range, wherein the rule comprises:
at least one of when a first distance between a first object and the first apparatus is greater than a second distance between a second object and the first apparatus, or when a first detection range of a first radar detection apparatus carried on the first object and a second detection range of a second radar detection apparatus corresponding to the first apparatus does not have an intersection in space, and a third detection range of a third radar detection apparatus carried on the second object and the second detection range of the second radar detection apparatus corresponding to the first apparatus have an intersection in space, a second priority of a second time-frequency resource is higher than a third priority of a third time-frequency resource, wherein
the second time-frequency resource is occupied by the first radar detection apparatus carried on the first object, and the third time-frequency resource is occupied by the second radar detection apparatus carried on the second object.
6. The method according to claim 1 , wherein
the first apparatus is a radar detection apparatus, and the method further comprises: sending, by the radar detection apparatus, a first radar signal on the first time-frequency resource.
7. The method according to claim 1 , wherein
the first apparatus is a processing apparatus, and the method further comprises: sending, by the processing apparatus, information about the first time-frequency resource to a radar detection apparatus, wherein the first time-frequency resource is to be utilized by the radar detection apparatus to send the radar signal.
8. The method according to claim 1 , wherein
the first apparatus is a radar detection apparatus, and the method further comprises: sending, by the radar detection apparatus, information about the first time-frequency resource to a processing apparatus or a communications apparatus; or
the first apparatus is the processing apparatus, and the method further comprises: sending, by the processing apparatus, information about the first time-frequency resource to the communications apparatus.
9. The method according to claim 1 , wherein
the first apparatus is a radar detection apparatus, and after the determining the first time-frequency resource in the plurality of time-frequency resources, the method further comprises: determining, by the radar detection apparatus, that the radar detection apparatus is subject to interference; or
the first apparatus is a processing apparatus, and after the determining the first time-frequency resource in the plurality of time-frequency resources, the method further comprises: receiving, by the processing apparatus, interference indication information from the radar detection apparatus, wherein the interference indication information is utilized to indicate that the radar detection apparatus is subject to interference.
10. The method according to claim 5 , wherein the method further comprises:
adjusting, by the first apparatus according to the rule and based on the first information, the priorities of the plurality of time-frequency resources comprised in the first time-domain range, wherein the rule further comprises lowering a priority of a time-frequency resource of the plurality of time-frequency resources currently utilized by the first apparatus.
11. The method according to claim 1 , wherein a time-frequency resource of the plurality of time-frequency resources with a comparatively high priority is a time-frequency resource with a comparatively low possibility of a collision.
12. An apparatus, comprising:
one or more processors, and
a storage medium in communication with the one or more processors, the storage medium configured to store program instructions, wherein, when executed by the one or more processors, the instructions cause the apparatus to perform:
receiving first information from a second apparatus;
determining, based on the first information, priorities of a plurality of time-frequency resources comprised in a first time-domain range; and
determining a first time-frequency resource in the plurality of time-frequency resources, wherein a priority of the first time-frequency resource is the highest among the priorities of the plurality of time-frequency resources, and the first time-frequency resource is utilized to send a radar signal.
13. The apparatus according to claim 12 , wherein the first time-domain range is one of a plurality of time-domain ranges, and the plurality of time-domain ranges do not overlap in a time domain.
14. The apparatus according to claim 12 , wherein
at least two of the plurality of time-frequency resources overlap in a time domain, or
the plurality of time-frequency resources do not overlap in a frequency domain.
15. The apparatus according to claim 12 , wherein
the first information comprises information about at least one of one or more objects or information about a radar detection apparatus carried on the one or more objects, information about an object of the one or more objects comprising at least one of location information or a driving direction of the object, and information about a radar detection apparatus carried on the object comprising at least one of a location of the radar detection apparatus in the object or information about a time-frequency resource occupied by the radar detection apparatus; or
the first information comprises the priorities of the plurality of time-frequency resources comprised in the first time-domain range.
16. The apparatus according to claim 12 , wherein the determining, based on the first information, the priorities of the plurality of time-frequency resources comprised in the first time-domain range further comprises:
determining, according to a rule and based on the first information, the first priority of the first time-frequency resource comprised in the first time-domain range, wherein the rule comprises:
at least one of when a first distance between a first object and the first apparatus is greater than a second distance between a second object and the apparatus, or when a first detection range of a first radar detection apparatus carried on the first object and a second detection range of a second radar detection apparatus corresponding to the apparatus do not have an intersection in space, and a third detection range of a third radar detection apparatus carried on the second object and the second detection range of the second radar detection apparatus corresponding to the apparatus have an intersection in space, a second priority of a second time-frequency resource is higher than a third priority of a third time-frequency resource, wherein
the second time-frequency resource is occupied by the radar detection apparatus carried on the first object, and the third time-frequency resource is occupied by the second radar detection apparatus carried on the second object.
17. The apparatus according to claim 12 , wherein
the apparatus is a radar detection apparatus.
18. The apparatus according to claim 12 , wherein a time-frequency resource of the plurality of time-frequency resources with a comparatively high priority is a time-frequency resource with a comparatively low possibility of a collision.
19. A non-transitory computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program operates on a computer, the computer is enabled to perform the method of:
receiving first information from a second apparatus;
determining, based on the first information, priorities of a plurality of time-frequency resources comprised in a first time-domain range; and
determining a first time-frequency resource in the plurality of time-frequency resources, wherein a priority of the first time-frequency resource is the highest among the priorities of the plurality of time-frequency resources, and the first time-frequency resource is utilized to send a radar signal.