DE102019202836A1 - Method and radar unit for mitigating radar interference - Google Patents

Abstract

The present invention provides a method and a radar unit for mitigating radar interference between at least two vehicles. The method has the steps S100 of providing a respective vehicle-to-vehicle communication means for each of the at least two vehicles and a respective radar means for each of the at least two vehicles with the same operating frequency bands, modulation plans and fields of view, the frequency bands and fields of view of the at least two vehicles are configurable in real time, an exchange S200 of information about radar operating parameters, which contain at least one of the parameters, frequency, modulation, field of view, timing, between the at least two vehicles by the vehicle-to-vehicle communication means, a determination S300 a potential interference risk based on the information that is exchanged and a reconfiguration S500 of at least one of the parameters, radar frequency band and field of view, of at least one radar means in the event that a potential interference risk S400 has been determined.

Description

Technical area

The present invention relates to a method for mitigating radar interference between at least two vehicles and a radar unit which is configured accordingly.

State of the art

Radar units are becoming more and more widespread in the automotive and automotive manufacturing fields. Radar units are currently used for various driver assistance systems and automation functions. Examples of the use of radar units are adaptive cruise control, autonomous emergency braking, blind spot detection, front / rear collision warning systems and cross traffic warnings. Each radar unit has a specific operating frequency band, a specific set of waveforms, and a field of view (FOV) that defines the field of view in horizontal and vertical planes.

Radar units in an automobile can be exposed to interference with extraneous signals of the same frequency in their fields of view, which leads to weak or poor object detection or even to a lack of object detection. These problems become more serious in the case where vehicles with one radar unit travel at high speeds and radar units with the same frequency bands are used in different vehicles. It should be remembered that even a brief burst of interference can blind the radar.

Within the context of automated driving functions, the use of radar for environmental perception becomes even more important. Therefore, the interference described above, which can lead to blindness of the radar, can have fatal consequences, especially for vehicles that essentially rely on radar data.

In the document "A method of interference cancellation in automotive radar" by Michael Barjenbruch, Dominik Kellner, Klaus Dietmayer, Jens Klappstein and Jürgen Dickmann, 2015 IIE MTT-S international Conference on Microwaves for Intelligent Mobility, will be a notification for an interference detection cancellation for automotive radar systems or automotive radar systems are proposed. In this method, image processing techniques are applied to the time frequency image and the interference pattern in the signal is identified and then the interfering samples are set to zero.

In the published document US 2016 0223 643 A1 describes a deep multiple sensor fusion system for inter-radar interference-free environmental perception. Radar signals from other vehicles are used as information instead of interference, and the radar on the own platform and on other vehicles are used together to provide a polystatic MIMO (multiple input multiple output) radar.

The document US 2007 200 747 A1 relates to a system for detecting an obstacle in the vicinity of the vehicle with the use of radio wave radar and a method for avoiding radio wave interference from its surroundings. In this document a change of selected carrier frequencies between radars of different vehicles is described and means for controlling a modulation state of the transmitted wave and selecting a modulation state to avoid interference when wave interference has been detected is shown.

In addition, document JP 2010 048 716 A describes a radar means in which information of the radar means is provided from the other vehicle by performing radar radio communication. Based on the information obtained by the radar means, the possibility of interference is detected and the state can then be changed to a state in which interference is avoided.

Summary of the invention

Technical problem

The object of the present invention is to provide a method for mitigating radar interference between at least two vehicles and a radar unit configured to mitigate interference between at least two vehicles in such a manner that interference with a simple configuration and in an efficient manner is avoided.

This object is achieved by the subject matter of the independent claims. Further aspects of the invention can be seen in the subclaims.

According to the first aspect of the present invention, a method for mitigating radar interference between at least two vehicles is provided. This method has the steps of providing a respective vehicle-to-vehicle communication means for each of the at least two vehicles and a respective radar means for each of the at least two vehicles with the same operating frequency bands, modulation plans and fields of view, the frequency bands and fields of view of the at least two vehicles being configurable in real time, an exchange of information about radar operating parameters, the at least one of the parameters, frequency , Modulation, field of view, timing, between the at least two vehicles by the vehicle-to-vehicle communication means, determining a potential interference risk based on the information that is exchanged and reconfiguring at least one of the parameters, radar frequency band and Field of view, from at least one radar means in the case where a potential interference risk has been determined. As a result, radar interference can be mitigated in an efficient manner.

According to a second aspect of the present invention, it is preferred in the first aspect that the reconfiguration step is based on predetermined rules by implied agreement, according to which at least one of the vehicles changes its radar frequency band or field of view, and that the method after the reconfiguration step includes the step of communicating the Has change from the at least one of the vehicles to the at least one other vehicle. Due to this, data traffic is reduced and communication is used efficiently.

According to a third aspect of the present invention, it is preferred in the first aspect that the reconfiguration step is based on a dedicated negotiation protocol through an explicit agreement that decides on radar frequencies to the at least two vehicles within a communication area. This mitigates radar interference in an efficient manner.

According to a fourth aspect of the present invention, in the first, second or third aspect, in the step of providing a respective vehicle-to-vehicle communication means and a respective radar means, the radar waveform modulation has a respective unique identifier for which includes at least two vehicles and one of the at least two vehicles is able to receive radar signals for the other of the at least two vehicles, and after the step of a reconfiguration in the event that one of the at least two vehicles receives a radar signal from the other of the at least two Vehicle receives this radar signal as input for at least one of the activities, object detection and environmental perception, of which one of the at least two vehicles is used. Due to the dual use of radar signals, the amount of radar signals emitted can be reduced while the information obtained through radar communication is maintained.

According to a fifth aspect of the present invention, it is preferred in one of the preceding aspects if, in the step of exchanging information, a common modulation plan for the at least two vehicles is communicated and agreed upon, specifically for a limited operating time. This increases the efficiency of data communication even further.

According to a sixth aspect of the present invention, in the fifth aspect, it is preferable that the common modulation plan consists of continuous wave tones. As a result, it is possible to concentrate the energy on a small radio spectrum, which leads to a large working area with usable signals.

According to a seventh aspect of the present invention, in the fifth or sixth aspect, it is preferable that, as a result of the step of exchanging information, each radar means is able to detect the other of the at least two vehicles as a single frequency during the limited operation time, which repeatedly enables easy detection.

According to an eighth aspect of the present invention, there is provided a radar unit for mitigating radar interference between at least two vehicles, the radar unit comprising vehicle-to-vehicle communication means configured to communicate between one and another of the at least two vehicles communicate, a radar means that has operating frequency bands, modulation plans and fields of view and is able to configure frequency bands and fields of view of the one of the at least two vehicles in real time, wherein the radar unit is configured to receive information about radar operating parameters, the at least one of the parameters , Frequency, modulation, field of view, timing, to exchange between the at least two vehicles in order to determine a potential interference risk based on the information that is exchanged and to at least one of the parameters, radar frequency band and field of view, of the one of the at least one Reconfigure em radar means in the event that a potential interference hazard has been determined. With this radar unit, advantages similar to those of the first aspect can be obtained.

According to a ninth aspect of the present invention, it is preferred in the eighth aspect that the radar waveform modulation of the radar means contains a unique identifier for the other of at least two vehicles and wherein the radar means is configured so that the one of the at least two vehicles in the Is able to receive radar signals for the other of the at least two vehicles, and that the radar unit is configured so that in the case where the one of the at least two vehicles receives a radar signal from the other of the at least two vehicles, using this radar signal as input for at least one of the activities, object detection and environmental perception, from which one of the at least two vehicles is enabled. With this radar unit, advantages similar to those of the fourth aspect can be obtained.

In addition, according to the invention, the following methods can alternatively be provided.

A method for mitigating radar interference between at least two vehicles has the steps of providing a respective vehicle-to-vehicle communication means for each of the at least two vehicles, of providing a respective radar means for each of the at least two vehicles with the same operating frequency bands, wherein the radar waveform modulation includes a respective unique identifier for the at least two vehicles and wherein one of the at least two vehicles is able to receive radar signals for the other of the at least two vehicles, an exchange of information on radar operating parameters between the at least two vehicles in the Case that one of the at least two vehicles receives a radar signal from the other of the at least two vehicles, using this radar signal as input for at least one of the activities, object detection and environmental perception, from which e in the at least two vehicles. With this method, advantages similar to those of the fourth aspect can be obtained.

Another method for mitigating a radar interference between at least two vehicles has the steps of providing a respective vehicle-to-vehicle communication means for each of the at least two vehicles, providing a respective radar means for each of the at least two vehicles with the same operating frequency bands, Modulation plans and fields of view, wherein the frequency bands and fields of view of the at least two vehicles can be configured in real time, an exchange of information about radar operating parameters, which contain at least one of the parameters, frequency, modulation, field of view, timing, between the at least two vehicles by the vehicle to vehicle communication means, determining a potential interference risk based on the information that is exchanged, and reconfiguring at least one of the parameters, radar frequency band and field of view, of at least one radar means in the company ll that a potential interference hazard has been determined. With this method, advantages similar to those of the first aspect can be obtained.

Figure list

• 1 zeigt eine Gruppe von Radareinheiten gemäß einer ersten Struktur der vorliegenden Erfindung.
• 2 zeigt eine Gruppe von Radareinheiten gemäß einer alternativen Struktur von 1.
• 3 zeigt ein Verfahren für ein Mildern einer Radarinterferenz gemäß der ersten Ausführungsform.
• 4 zeigt ein Verfahren für ein Mildern einer Radiointerferenz bzw. Radarinterferenz gemäß einer zweiten Ausführungsform.
• 5 zeigt das spezifische Beispiel des Verfahrens für ein Mildern einer Radiointerferenz bzw. Radarinterferenz gemäß der zweiten Ausführungsform von 4, so dass die Richtung eines Ankommens geschätzt werden kann.

With reference to the accompanying drawings and correspondingly detailed description, the present invention, along with its objects, features and advantages, will be described in greater detail.

• 1 Figure 11 shows a group of radar units according to a first structure of the present invention.
• 2 FIG. 13 shows a group of radar units according to an alternative structure of FIG 1 .
• 3 Fig. 10 shows a method for mitigating radar interference according to the first embodiment.
• 4th FIG. 12 shows a method for mitigating radio interference or radar interference according to a second embodiment.
• 5 FIG. 13 shows the specific example of the method for mitigating radio interference according to the second embodiment of FIG 4th so that the direction of arrival can be estimated.

Description of the embodiments

The inventors of the present invention have found that when the advantage of radar units is combined with vehicle-to-vehicle communication, radar interference can be mitigated and other advantages can be obtained.

In 1 is a first radar unit 12 to see that in a vehicle A. can be provided, and is a second radar unit 22nd to see that in a vehicle B. can be installed. The first radar unit 12 has a radar device 14th for object detection and environment perception with reference to the vehicle A. . A means of communication 16 is provided for vehicle-to-vehicle communication and is capable of receiving signals from the radar unit 14th to receive and deliver signals to them. In a similar way, the second radar unit 22nd a radar means 24 on that with a means of communication 26th connected is.

The present invention can alternatively be applied to the structure shown in 2 can be seen applied, which differs from the structure that is in 1 can be seen in that it differs as a central means of communication 30th is provided via which the communication means 16 the first radar unit 12 and the means of communication 26th the second radar unit 22nd Exchange information.

The advantage of the alternative structure found in 2 what can be seen is that the central means of communication 30th that is outside of vehicle A. and B. is provided, can have a larger memory containing more information for harmonizing communication between vehicles A. and B. and for providing better interference-free use of the radar units 14th and 24 .

In the following, the method according to a first embodiment shown in FIG 3 can be seen, explained. This procedure can be applied to the radar units 12 , 24 according to the structure of 1 and the alternative structure of 2 be applied.

The focus of the method according to the present invention is on the use of a vehicle-to-vehicle communication (V2V communication), through which two or more vehicles are able, via the trajectories of the other vehicles via the radar operating frequencies, the modulation plans and the To learn the fields of vision of the respective vehicles. Because of this learning process, it is possible to predict radar interference that could occur due to these parameters. In order to implement the aim of the present invention and to avoid or at least limit the interference in a radar detection, it is possible to coordinate the radar activity preferably in terms of frequency band, waveform and field of view. As a result, interference can be mitigated or completely eliminated.

1. 1.) Die mindestens zwei Fahrzeuge sind mit einem Fahrzeug-zu-Fahrzeug-Kommunikation-Mittel ausgerüstet, wie es zum Beispiel in 1 und 2 mit Bezugszeichen 16 und 26 zu sehen ist (Schritt S100 in 3).
2. 2.) Radarmittel sind in jedem Fahrzeug bereitgestellt. Diese Radarmittel haben vorzugsweise dieselben Operationsfrequenzbänder, dieselben Modulationspläne und dasselbe Sichtfeld. Solche Radarmittel sind zum Beispiel in 1 und 2 mit Bezugszeichen 14 und 24 zu sehen.
3. 3.) Zumindest für das Frequenzband und Sichtfeld des Radarmittels ist es vorgesehen, dass diese in Echtzeit konfigurierbar sind.
4. 4.) Die Fahrzeuge, wie Fahrzeuge A und B in 1 und 2, sind in solch einer Art und Weise bereitgestellt, dass es möglich ist, dass eine Interferenz der Radarmittel der Fahrzeuge auftreten kann. Ein Beispiel ist, dass sich zwei Fahrzeuge einander von entgegengesetzten Richtungen nähern, so dass vordere Radarinterferenzen verursacht werden. Dies wird nachstehend mit Bezug auf 5 noch ausführlicher erläutert.

More specifically, the method for mitigating radar interference according to the first embodiment is based on the following assumptions:

1. 1.) The at least two vehicles are equipped with a vehicle-to-vehicle communication means, as for example in 1 and 2 with reference numbers 16 and 26th can be seen (step S100 in 3 ).
2. 2.) Radar equipment is provided in every vehicle. These radar means preferably have the same operating frequency bands, the same modulation plans and the same field of view. Such radar means are for example in 1 and 2 with reference numbers 14th and 24 to see.
3. 3.) At least for the frequency band and field of view of the radar means it is provided that these can be configured in real time.
4. 4.) The vehicles, like vehicles A. and B. in 1 and 2 , are provided in such a manner that it is possible that interference of the radar means of the vehicles may occur. An example is when two vehicles are approaching each other from opposite directions, causing front radar interference. This is discussed below with reference to FIG 5 explained in more detail.

The radar units in the first embodiment are provided in such a manner that the vehicles are able to exchange messages about the operating parameters of the radar means via the communication means, as in step S200 in 3 you can see. These operating parameters can include frequencies, modulation, fields of application, and timing.

Then, based on this information, the radar unit determines potential interference risks, as described in step S300 in 3 you can see. In the event that a certain probability of interference is detected, as indicated by YES in step S400 in 3 can be seen, the frequency band or the field of view, or the frequency band and the field of view of the radar of the affected vehicles are reconfigured, as in step S500 in 3 you can see.

The reconfiguration of step S500 can be implicitly agreed based on predetermined rules. An example is that the vehicles change the radar frequency bands and then communicate this change by exchanging messages over the communication means.

In the case of an explicit match, a dedicated negotiation protocol is used. This protocol decides on radar frequencies to vehicles within the communication area. For this case of an explicit match, it is preferred that the alternative structure, which is shown in 2 can be seen which is a central means of communication 30th is used.

Regarding 4th a method for mitigating radar interference according to a second embodiment is described.

In this second embodiment, reference is made to the first embodiment and the same steps are identified by the same reference numerals. In addition to the steps described in the context of the first embodiment, vehicle-to-vehicle communication is additionally used in the second embodiment to identify emitted radar signals, modulation plans and unique identifiers for each of the vehicles A. , B. to communicate. This is with step S1200 in 4th to see the step S200 in the first embodiment shown in 3 can be seen replaced.

The advantage of this communication is that in addition to mitigating or even eliminating the interference described in the context of the method of the first embodiment, other vehicles receiving a reflection of radar signals use the resulting information for their own object detection and their own Can use environmental awareness as in step S1600 in 4th you can see.

It is preferable that, in order to mitigate interference and at the same time enable direction of arrival (DOA) estimation, to use a specific radar waveform. According to the second embodiment, it is preferred that each vehicle selects a continuous wave (CW, continuous wave) in a narrow band in the field of view. As a result, the down-converted beat frequencies are in the MHz band. Therefore, each vehicle is able to detect the direction of arrival of the other vehicles which are themselves out of the area in a simple manner.

1. 1.) Die Fahrzeuge sind mit einem Fahrzeug-zu-Fahrzeug-Kommunikation-Mittel ausgerüstet, wie es zum Beispiel in 1 und 2 mit Bezugszeichen 16 und 26 zu sehen ist.
2. 2.) Die Fahrzeuge haben jeweilig Radareinheiten, die dieselbe Operation von Frequenzbändern bzw. dieselben Frequenzbänder haben, und die Radarwellenformmodulation enthält eindeutige bzw. einzigartige Identifikatoren für die Fahrzeuge. Solche Radarmittel sind zum Beispiel in 1 und 2 mit Bezugszeichen 14 und 24 zu sehen.
3. 3.) Die Fahrzeuge sind in solch einer Art und Weise konfiguriert, dass sie im Stande sind, Radarsignale von anderen Fahrzeugen potentiell zu empfangen.

More specifically, in the method for mitigating radar interference according to the second embodiment, the following is assumed:

1. 1.) The vehicles are equipped with a vehicle-to-vehicle communication means, as for example in 1 and 2 with reference numbers 16 and 26th you can see.
2. 2.) The vehicles have respective radar units which have the same operation of frequency bands and the radar waveform modulation contains unique identifiers for the vehicles. Such radar means are for example in 1 and 2 with reference numbers 14th and 24 to see.
3. 3.) The vehicles are configured in such a way that they are able to potentially receive radar signals from other vehicles.

With this type of assumption, the vehicles are able to communicate information about the operation of parameters of the radar means, such as frequencies, field of view, timing and pulse identifiers.

In the event that a vehicle receives such a radar signal from another vehicle, which is recognized with reference to the unique identifier, as in step S1200 is specified, and based on the content of this information, this vehicle can use information as an input for its own object detection and environment perception, as in step S1600 in 4th you can see. This can be done using triangulation, for example.

A common modulation plan is preferably communicated and agreed between the vehicles. This schedule consists of continuous wave tones separated by a few MHz in a narrow band for a limited time. It is preferred that the lower part of the band be used, i.e. around the frequency of 76 GHz. Because of this down-converting the received signal, each radar unit is able to detect the other vehicle at a single frequency during the limited time of an operation. With this detection, an estimate of the direction of arrival is possible, but no distance measurement. The received signals have a signal-to-noise ratio and can also be used to estimate an approximate distance.

Therefore, with the method of mitigating a radar interference according to the second embodiment, in addition to mitigating or even eliminating interference, it is possible that one's own object detection and one's own perception of the surroundings are supported.

However, in an alternative, the second embodiment can also be implemented without the mitigation / elimination aspect so that radar signals from one vehicle can be used efficiently by two vehicles.

An example of the method for mitigating radar interference according to the second embodiment is with reference to FIG 5 which shows a continuous wave in a cooperative mode.

In this specific example, they are vehicle A. and vehicle B. to see where the radar unit 12 and 22nd from the structure that is in 1 can be seen, or the structure that is in 2 can be seen, are provided. Both vehicles A. and B. simultaneously transmit waveforms which could be either single continuous waves or multiple continuous waves. The waveform frequencies and the time slots can be transmitted by a reporting vehicle, that is, by either the vehicle A. or the vehicle B. , or a central unit like that of the alternative structure with the central means of communication 30th , this in 2 can be seen to be assigned.

The means of communication 16 and 26th of the vehicles A. and B. communicate their own data, which also includes the transmission parameters of the radar equipment 14th the first radar unit 12 and the radar means 24 the second radar unit 22nd included, with each other.

The vehicles A. and B. estimate the direction of arrival from each other.

In 5 used vehicle A. a continuous wave frequency f _A and used vehicle B. a continuous wave frequency f _B. A continuous wave radar mixes the transmitted carrier with a received frequency, so that a product of sinusoids is obtained.

In the case of transfers of vehicles A. and B. take place simultaneously, the signals are also received at the same time. If sin (f _A ) and sin (f _B ) are mixed, the result is sin (f _A + f _B ) * sin (f _A + f _B ). If a low-pass filter is now used, sin (f _A + f _B ) is cut off and the beat frequency or superposition frequency f _{AB is} obtained. Based on f _AB , the Doppler frequency f _D can be calculated in a simple manner and as a result the line-of-sight relative velocity of A and BV _{LOS is} obtained. This speed is a simple function of the absolute speeds of A and B, that is V _A and V _B , and the relative angle between them (Θ _AB ).

As the absolute speeds of the vehicles A. and B. are known due to the vehicle-to-vehicle communication, it is possible to simply calculate Θ _AB .
f _D = 2 * V _LOS / λ

v _LOS = v _A * Cos (Θ _A ) + v _B * Cos (Θ _B )

Θ _AB = Θ _A + Θ _B

Finally, the direction of arrival (DOA) can be estimated.

List of reference symbols

A.

vehicle

B.

vehicle

12

first radar unit

14th

Radar means

16

Means of communication

22nd

second radar unit

24

Radar means

26th

Means of communication

30th

central means of communication

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 20160223643 A1 [0006]
• US 2007200747 A1 [0007]
• JP 2010048716 A [0008]

Non-patent literature cited

• "A method of interference cancellation in automotive radar" by Michael Barjenbruch, Dominik Kellner, Klaus Dietmayer, Jens Klappstein and Jürgen Dickmann, 2015 IIE MTT-S international Conference on Microwaves for Intelligent Mobility, will be a notification for an interference detection cancellation for automotive radar systems or automotive radar systems are proposed. [0005]

Claims (9)

Method for mitigating a radar interference between at least two vehicles (A, B) with the steps: Providing (S100) a respective vehicle-to-vehicle communication means (16, 26) for each of the at least two vehicles (A, B) and a respective radar means (14, 24) for each of the at least two vehicles (A, B ) with the same operational frequency bands, modulation plans and fields of view, whereby the frequency bands and fields of view of the at least two vehicles (A, B) can be configured in real time, Exchange of information (S200) about radar operating parameters, which contain at least one of the parameters, frequency, modulation, field of view, timing, between the at least two vehicles (A, B) by the vehicle-to-vehicle communication means (16, 26 ), Determining (S300) a potential interference risk based on the information that is exchanged, and Reconfiguring (S500) at least one of the parameters, radar frequency band and field of view, of at least one radar means (14, 24) in the event that a potential interference risk (S400) has been determined. Procedure according to Claim 1 , wherein the reconfiguration step is based on predetermined rules by an implicit match according to which at least one of the vehicles (A, B) changes its radar frequency band or field of view, and the method after the reconfiguration step comprises the step of communicating the change from the at least one vehicle to the at least has another vehicle. Procedure according to Claim 1 wherein the reconfiguration step is based on a dedicated negotiation protocol through an explicit agreement that decides on radar frequencies to the at least two vehicles (A, B) within a communication area. Method according to one of the preceding claims, wherein in the step (S100) of providing a respective vehicle-to-vehicle communication means (16, 26) and a respective radar means (14, 24), the radar waveform modulation contains a respective unique identifier for the at least two vehicles (A. B) and wherein one of the at least two vehicles (A, B) is capable of receiving radar signals for the other of the at least two vehicles, and after the step (S500) of reconfiguring, in the event that one of the at least two vehicles (A, B) receives a radar signal from the other of the at least two vehicles (A, B), this radar signal as input for at least one of the activities, object detection and perception of the surroundings by which one of the at least two vehicles (A, B) is used. Method according to one of the preceding claims, wherein in the step of exchanging information a common modulation plan for the at least two vehicles (A, B) is communicated and an operation is agreed for a limited time. Procedure according to Claim 5 , where the common modulation scheme consists of continuous wave tones. Procedure according to Claim 5 or 6th wherein, as a result of the step of exchanging information, each radar means (14, 24) is able to detect the other of the at least two vehicles as a single frequency during the limited time of an operation. Radar unit configured to mitigate radar interference between at least two vehicles (A, B), the radar unit (12, 22) comprising: a vehicle-to-vehicle communication means (16, 26) configured to communicate between one and another of the at least two vehicles (A, B), a radar means (14, 24) which has operational frequency bands, modulation plans and fields of view and is able to configure frequency bands and fields of view of the one of the at least two vehicles (A, B) in real time, wherein the radar unit (12, 22) is configured to To exchange information about radar operating parameters, which contain at least one of the parameters, frequency, modulation, field of view, timing, between the at least two vehicles (A, B), determine a potential interference risk based on the information being exchanged, and reconfiguring at least one of the parameters, radar frequency band and field of view, of the one of the at least one radar means (14, 24) in the event that a potential interference risk has been determined. Radar unit according to Claim 8 wherein the radar waveform modulation of the radar means (14, 24) contains a unique identifier for the other of the at least two vehicles (A, B) and wherein the radar means (14, 24) is configured so that the one of the at least two vehicles (A, B) is able to receive radar signals for the other of the at least two vehicles (A, B), wherein the radar unit (12, 22) is configured so that in the case where the one of the at least two vehicles (A, B) receives a radar signal from the other of the at least two vehicles (A, B), using this radar signal as an input for at least one of the activities, object detection and environmental perception, from which one of the at least two vehicles (A, B) is enabled.

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