Method for reducing mutual interference in radars

1. A distributed FMCW radar communication system for interference mitigation in an ego unit comprising a RadCom unit configured for radar sensing in a radar mode and for data communication in a communication mode with at least one target unit comprising a RadCom unit by switching between the radar mode and the communication mode in time and using separate frequency bands for the radar mode and the communication mode, using a random medium access technique for communication, the distributed FMCW radar communication system being configured such that a communicated control message information is used for co-allocated multiple FMCW radar sensors in both the ego unit and the at least one target unit to a portion of a radar frame duration (T f ) which is one of a plurality of radar frame durations (T f ), wherein the ego unit and the at least one target unit transmit a control message, in each radar frame duration (T f ), the control message comprising a starting time of radar transmission of each unit to the other units prior to radar transmission of each unit, such that each unit selects a non-overlapping starting time for its radar transmission and wherein the starting times of different FMCW radar sensors are separated sufficiently such that they are orthogonal,

wherein one of the plurality of radar frame durations (T f ) of the FMCW radar communication system is divided in a number of time slots (T k ), where the RadCom unit of the ego unit is in the communication mode in a first time slot and transmits a radar control message which is one of the control messages, and where in the following time slot the RadCom unit of the ego unit is in the radar mode and transmits radar chirps, and where the RadCom unit of the ego unit is in the communication mode configured to receive a control message in all time slots except the time slot in which it is in the radar mode.

2. A distributed FMCW radar communication system according to claim 1 , wherein the random medium access technique for communication includes use of a CSMA protocol with random backoff.

3. A distributed FMCW radar communication system according to claim 1 , wherein the frequency band for the radar mode in the ego unit and the at least one target unit is the same, and wherein the frequency band for the communication mode in the ego unit and the at least one target unit is the same.

4. A distributed FMCW radar communication system according to claim 1 , wherein a vulnerable period (V) is determined, where the vulnerable period is a set of time values in a radar frame (T f ) where interference between the ego unit and the target unit has not been detected by the FMCW radar sensors and is expected to occur.

5. A distributed FMCW radar communication system for interference mitigation in an ego unit comprising at least one RadCom unit configured for radar sensing in a radar mode and for data communication in a communication mode with at least one target unit, comprising at least one RadCom unit, by switching between the radar mode and the communication mode in time and using separate frequency bands for the radar mode and the communication mode, using a random medium access technique for communication, where the ego unit comprises a plurality of RadCom units and a control unit configured to control the plurality of RadCom units to use different starting times and frequency bands based on at least one received control message by means of communication during a radar frame duration (T f ), which is one of a plurality of radar frame durations (T f ), received by means of the data communication, wherein the ego unit and the at least one target unit transmit a control message, in each radar frame duration (T f ), the control message comprising a starting time of radar transmission of each unit to the other units prior to radar transmission of each unit, such that each unit selects a non-overlapping starting time for its radar transmission and wherein the starting times of different FMCW radar sensors are separated sufficiently such that they are orthogonal,

wherein one of the plurality of radar frame duration (T f ) of the FMCW radar communication system is divided in a number of time slots (T k ), where the RadCom unit of the ego unit is in the communication mode in a first time slot and transmits a radar control message which is one of the control messages, and where in the following time slot the RadCom unit of the ego unit is in the radar mode and transmits radar chirps, and where the RadCom unit of the ego unit is in the communication mode configured to receive a control message in all time slots except the time slot in which it is in the radar mode.

6. A distributed FMCW radar communication system according to claim 5 , wherein the control message comprises: an identity of the transmitter (r i ), a time reference frame (r i .ID) and the set of all rTDMA slot indices of the RadCom units mounted on unit X (S x .SI), a strength of the time reference frame (r i .strength), the base RadCom unit's radar starting time and its slot index (r i *.t rs , r i *.SI).

7. A distributed FMCW radar communication system according to claim 5 , wherein a vulnerable period (V) is determined, where the vulnerable period is a set of time values in a radar frame (T f ) and slot indices are the corresponding numbered set of possible starting times, where interference between the ego unit and the target unit has not been detected by FMCW radar sensors and is expected to occur.

8. Vehicle, wherein the vehicle comprises a distributed FMCW radar communication system according to claim 1 .