Perception information obtaining method and device, computer equipment and storage medium

Abstract

The invention relates to the field of network communication, in particular to a sensing information acquisition method and device, computer equipment and a storage medium, which can freely set and control the transmitting power and the peak-to-average power ratio under the condition of ensuring the performance of radar and communication, obtain a communication sensing integrated signal and improve the communication sensing efficiency. According to the invention, efficient sharing of frequency spectrum sub-band resources and transmitting power is realized, the utilization rate of the frequency spectrum resources is maximized, the negative influence of radio frequency circuit transmitting signal distortion caused by the fact that echo signal noise power may be greater than echo power is reduced as much as possible, and the requirement of information perception in a longer distance is met.

Description

Technical Field

[0001] The present invention relates to the field of network communication, and in particular, to a method and apparatus for obtaining sensing information, a computer device, and a storage medium. Background Art

[0002] In the study of spectrum resource allocation for vehicle-mounted radars, how to simultaneously ensure the safety detection of vehicle-mounted radars and the communication network to obtain a larger transmission link (VRSD-ETL) is the main challenge. At the same time, integrated sensing and communication (ISAC) opens up new service possibilities for the sixth-generation (6G) system. In an increasingly growing automotive environment, the rational use of (ISAC) technology can greatly reduce a series of problems affecting driving safety, such as signal interference between vehicles and congested spectra, and has broad application prospects.

[0003] Currently, the technical solutions that optimize the sensing function by utilizing the degrees of freedom brought out by communication modulation gaps are difficult to overcome the problems that ISAC waveforms with extremely high communication quality often exhibit a high peak-to-average power ratio (PAPR) and an integrated sidelobe level (ISL) of the non-periodic autocorrelation function (CAF); or that ISAC waveforms with extremely high sensing quality often exhibit a low SNR or a low data transmission rate (DTR), resulting in a reduced information sensing efficiency. Summary of the Invention

[0004] Based on this, the object of the present invention is to provide a method and apparatus for obtaining sensing information, a computer device, and a storage medium, which can freely set and control the transmission power and peak-to-average power ratio while ensuring the performance of radar and communication, obtain a communication and sensing integrated signal, so as to realize the efficient sharing of spectrum sub-band resources and transmission power, maximize the utilization rate of spectrum resources, and minimize the negative impact of radio frequency circuit transmission signal distortion caused by the fact that the echo signal noise power may be greater than the echo power, so as to meet the information sensing requirements at a farther distance.

[0005] In a first aspect, an embodiment of the present application provides a method for obtaining sensing information, including the following steps:

[0006] Obtain a sensing modulation signal, and based on the ambiguity function, construct a time-delay Doppler ambiguity function matrix according to the sensing modulation signal;

[0007] According to the time-delay Doppler ambiguity function matrix, with the minimization of the ambiguity function sidelobe as the optimization objective and the channel capacity and peak-to-average power ratio as the constraint conditions, construct an optimization problem function; use a fast convergence algorithm to iteratively solve the optimization problem function to obtain a communication and sensing integrated signal;

[0008] Send the integrated communication and sensing signal to the receiving end, obtain the sensing feedback signal sent by the receiving end, and parse the sensing feedback signal to obtain the sensing information of the receiving end.

[0009] In a second aspect, an embodiment of the present application provides a sensing information acquisition device, including:

[0010] A matrix construction module, configured to obtain a sensing modulation signal and construct a time-delay Doppler ambiguity function matrix based on the ambiguity function according to the sensing modulation signal;

[0011] A signal acquisition module, configured to construct an optimization problem function according to the time-delay Doppler ambiguity function matrix, with the minimization of the ambiguity function sidelobe as the optimization objective and the channel capacity and peak-to-average power ratio as the constraint conditions; and use a fast convergence algorithm to iteratively solve the optimization problem function to obtain an integrated communication and sensing signal;

[0012] An information sensing module, configured to send the integrated communication and sensing signal to the receiving end, obtain the sensing feedback signal sent by the receiving end, and parse the sensing feedback signal to obtain the sensing information of the receiving end.

[0013] In a third aspect, an embodiment of the present application provides a computer device, including: a processor, a memory, and a computer program stored on the memory and executable on the processor; when the computer program is executed by the processor, the steps of the sensing information acquisition method described in the first aspect are implemented.

[0014] In a fourth aspect, an embodiment of the present application provides a storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the sensing information acquisition method described in the first aspect are implemented.

[0015] In the embodiments of the present application, a sensing information acquisition method, device, computer device, and storage medium are provided. While ensuring the performance of radar and communication, the transmission power and peak-to-average power ratio can be freely set to obtain an integrated communication and sensing signal, so as to achieve efficient sharing of spectrum sub-band resources and transmission power, maximize the utilization rate of spectrum resources, and minimize the negative impact of signal distortion of the RF circuit transmission signal caused by the fact that the echo signal noise power may be greater than the echo power, so as to meet the information sensing requirements for longer distances.

[0016] For better understanding and implementation, the present invention will be described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of an application scenario of the sensing information acquisition method provided by an embodiment of the present application;

[0018] Figure 2 Flow diagram of the method for obtaining perception information provided by an embodiment of the present application;

[0019] Figure 3 Flow diagram of S1 in the method for obtaining perception information provided by an embodiment of the present application;

[0020] Figure 4 Flow diagram of S2 in the method for obtaining perception information provided by an embodiment of the present application;

[0021] Figure 5 Flow diagram of S3 in the method for obtaining perception information provided by an embodiment of the present application;

[0022] Figure 6 Structural diagram of the device for obtaining perception information provided by an embodiment of the present application;

[0023] Figure 7 Structural diagram of the computer device provided by an embodiment of the present application. Detailed implementation manners

[0024] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0025] The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms of "a", "the" and "said" used in the present application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0026] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" / "when" used herein may be interpreted as "when" or "when" or "in response to determining".

[0027] Please refer to Figure 1 , Figure 1Schematic diagram of the application scenario of the perception information acquisition method provided by an embodiment of the present application. The application scenario includes a signal tower 1 and a vehicle 2. Energy transmission and data reception are carried out between the signal tower and the vehicle through the V2I link. The signal tower provides the vehicle with real-time road information, traffic conditions, road condition updates, etc. The vehicle can make driving decisions based on the received information. The information transmitted by the signal tower in the figure can help the vehicle in front avoid traffic congestion (such as the communication path ① between the vehicle and the signal tower).

[0028] Energy transmission and data reception are carried out between vehicles through the V2V link. All vehicles are equipped with communication devices, and information such as position, speed, and acceleration can be sent and received in real time based on communication paths ⑥ and ⑦. The SAC system integrates radar sensing capabilities. The vehicle can detect vehicles or obstacles in the surrounding environment through radars ③ and ④ and avoid collisions. By using ISAC technology, the vehicle can, through the radar detection path between links ① and ②, automatically adjust its speed and lane according to the received perception data to achieve safe driving.

[0029] Please refer to Figure 2 , Figure 2 Schematic diagram of the process of the perception information acquisition method provided by an embodiment of the present application. The method includes the following steps:

[0030] S1: Obtain a perception modulation signal, and based on the ambiguity function, construct a time-delay Doppler ambiguity function matrix according to the perception modulation signal.

[0031] Both the signal tower and the vehicle can be used as the transmitting end. In this embodiment, the transmitting end obtains the perception modulation signal. Specifically, the transmitting end performs QPSK / QAM encoding according to the information to be perceived to obtain the perception modulation signal, where the perception modulation signal includes the information vector x of several subcarriers m , if x m (n) = 1 + 1i, it means that the m-th V2V link uses the n-th sub-pulse BPSK constellation, and the binary representation is 00.

[0032] The transmitting end constructs a time-delay Doppler ambiguity function matrix according to the perception modulation signal based on the ambiguity function.

[0033] Please refer to Figure 3 , Figure 3 Schematic diagram of the process of S1 in the perception information acquisition method provided by an embodiment of the present application, including step S11, specifically as follows:

[0034] S11: Obtain the transmission power and information vectors of several subcarriers in the sensing modulation signal. Based on the transmission power, information vectors of several subcarriers, and preset time delay and Doppler frequency shift, construct a time-delay Doppler ambiguity function matrix based on the ambiguity function to obtain the time-delay Doppler ambiguity function matrix.

[0035] In this embodiment, the transmitter obtains the transmission power and information vectors of several subcarriers in the sensing modulation signal. Based on the transmission power, information vectors of several subcarriers, and preset time delay and Doppler frequency shift, construct a time-delay Doppler ambiguity function matrix based on the ambiguity function to obtain the time-delay Doppler ambiguity function matrix, where the expression of the time-delay Doppler ambiguity function matrix is:

[0036]

[0037] In the formula, χ(τ, f d ) is the time-delay Doppler ambiguity function matrix, τ is the time delay, used to represent the distance between the transmitter and the receiver, f d is the Doppler frequency shift, used to represent the speed angular frequency between the transmitter and the receiver, M is the total number of subcarriers, w m is the transmission power of the m-th subcarrier, x m is the information vector of the m-th subcarrier in the sensing modulation signal, H is the conjugate transpose symbol, is the conjugate transpose of the information vector of the m-th subcarrier, J τ is the autocorrelation matrix.

[0038] S2: According to the time-delay Doppler ambiguity function matrix, with the minimization of the ambiguity function sidelobe as the optimization objective and the channel capacity and peak-to-average power ratio as the constraint conditions, construct an optimization problem function; use a fast convergence algorithm to iteratively solve the optimization problem function to obtain a communication and sensing integrated signal.

[0039] In order to meet the information perception requirements of the receiving end at a farther distance as much as possible while ensuring the performance of radar and communication, in this embodiment, the transmitting end constructs an optimization problem function with the minimum of the sidelobe of the ambiguity function as the optimization objective and the channel capacity and peak-to-average power ratio as the constraint conditions according to the time-delay Doppler ambiguity function matrix. Among them, the constraint conditions include the constraint condition constructed based on the channel capacity and the constraint condition constructed based on the peak-to-average power ratio. The constraint condition constructed based on the channel capacity is used to indicate that the phase difference between the channel capacities of several channels of several subcarriers in the sensing modulation signal and the channel coding is less than a preset correction factor; the constraint condition constructed based on the peak-to-average power ratio is used to indicate that the peak-to-average power ratio of the sensing modulation signal is greater than the upper limit of the preset peak-to-average power ratio and less than the lower limit of the preset peak-to-average power ratio, specifically as follows:

[0040] s.t.C1, |arg(x m,n ) - arg(s m,n )| < ε

[0041] .....C2,

[0042]

[0043] In the formula, C1 and C2 are respectively the constraint condition constructed based on the channel capacity and the constraint condition constructed based on the peak-to-average power ratio. x m,n is the channel capacity of the nth channel of the mth subcarrier, s m,n is the channel coding of the nth channel of the mth subcarrier, ε is the correction factor, arg(·) is the function to find the extreme value, α L is the upper limit of the peak-to-average power ratio, α H is the lower limit of the peak-to-average power ratio, and PARP is the peak-to-average power ratio.

[0044] The expression of the optimization problem function is:

[0045]

[0046] In the formula, f(τ, f d ) is the optimization problem function, N is the pulse train length of the sensing modulation signal, p is the order of the complementary signal ambiguity function, t is the numerical inflation constraint coefficient, Θ is the quantization number of the Doppler frequency shift, and l is the lth quantization in the Doppler frequency shift.

[0047] The transmitting end adopts a fast convergence algorithm, specifically, the Majorization-Minimization algorithm can be used to iteratively solve the optimization problem function to obtain a communication-sensing integrated signal, which can more freely control the transmission power and PAPR, and minimize the negative impact of the distortion of the transmitted signal of the radio frequency circuit caused by the fact that the echo signal noise power may be greater than the echo power, so as to meet the information sensing requirements of the receiving end at a farther distance.

[0048] Please refer to Figure 4 , Figure 4 which is a schematic flowchart of S2 in the method for obtaining sensing information provided by an embodiment of the present application, including steps S21 to S22, specifically as follows:

[0049] S21: Obtain the coefficients of the second-order Taylor expansion of the optimization problem function for the current iteration, and calculate the coefficients of the first approximate Hermitian matrix according to the coefficients of the second-order Taylor expansion of the optimization problem function for the current iteration, so as to obtain the coefficients of the first approximate Hermitian matrix for the current iteration.

[0050] In this embodiment, the transmitting end takes the sensing modulation signal as the input signal for the first iteration according to the preset number of iterations, performs Taylor expansion on the optimization problem function constructed based on the sensing modulation signal, and obtains the coefficients of the second-order Taylor expansion of the optimization problem function for the current iteration, where the expression of the coefficients of the second-order Taylor expansion is:

[0051]

[0052] In the formula, i is the iteration, is the first-order coefficient in the second-order Taylor expansion of the optimization problem function for the i-th iteration, χ(τ,f d ) i is the time-delay Doppler ambiguity function matrix for the i-th iteration, t i is the numerical inflation constraint coefficient for the i-th iteration.

[0053] The transmitting end calculates the coefficients of the first approximate Hermitian matrix according to the coefficients of the second-order Taylor expansion of the optimization problem function for the current iteration, so as to obtain the coefficients of the first approximate Hermitian matrix for the current iteration, where the expression of the coefficients of the first approximate Hermitian matrix is:

[0054]

[0055] In the formula, λ is the coefficient of the first approximate Hermitian matrix, w m is the transmission power of the m-th subcarrier.

[0056] S22: Use the sensed modulation signal as the input signal for the current iteration, and calculate the coefficients of the second approximate Hermitian matrix based on the input signal of the current iteration to obtain the coefficients of the second approximate Hermitian matrix for the current iteration.

[0057] In this embodiment, the transmitting end calculates the coefficients of the second approximate Hermitian matrix according to the sensed modulation signal of the current iteration to obtain the coefficients of the second approximate Hermitian matrix for the current iteration. The expression of the second approximate Hermitian matrix is as follows:

[0058]

[0059] In the formula, H m is the reciprocal matrix of the m-th subcarrier, is the information vector of the m-th subcarrier in the i-th iteration;

[0060] S23: Iteratively solve the preset upper bound function according to the sensed modulation signal of the current iteration, the coefficients of the first approximate Hermitian matrix, and the coefficients of the second approximate Hermitian matrix to obtain the output signal of the current iteration. Use the output signal of the current iteration as the sensed modulation signal for the next iteration, and repeat the iterative solution to obtain the communication and sensing integrated signal.

[0061] In order to transform the non-convex problem into an easily solvable convex problem, in this embodiment, the transmitting end constructs an upper bound function to approximate the original non-convex optimization problem function and ensures that the upper bound function is consistent with the original optimization problem function at the current solution. The expression of the upper bound function is as follows:

[0062]

[0063] In the formula, U(τ, f d ) is the upper bound function, is the information vector of the m-th subcarrier in the i-th iteration, λ is the coefficient of the first approximate Hermitian matrix, is the coefficient of the second approximate Hermitian matrix.

[0064] The transmitting end iteratively solves the preset upper bound function according to the sensed modulation signal of the current iteration, the coefficients of the first approximate Hermitian matrix, and the coefficients of the second approximate Hermitian matrix to obtain the output signal of the current iteration. Use the output signal of the current iteration as the sensed modulation signal for the next iteration, and repeat the iterative solution until the convergence condition is met, that is, the system performance reaches the expected requirement or the algorithm reaches the preset maximum number of iterations, to obtain the communication and sensing integrated signal, so as to realize the efficient sharing of spectrum sub-band resources and transmit power, maximize the utilization rate of spectrum resources, and meet different power transmission requirements.

[0065] S3: Transmit the integrated communication and sensing signal to the receiving end, obtain the sensing feedback signal sent by the receiving end, and perform parsing according to the sensing feedback signal to obtain the sensing information of the receiving end.

[0066] In this embodiment, the transmitting end transmits the integrated communication and sensing signal to the receiving end. In an alternative embodiment, the transmitting end may perform preprocessing on the integrated communication and sensing signal by using the method of coherent accumulation to fully utilize resources and achieve a better radar detection function.

[0067] The transmitting end obtains the sensing feedback signal sent by the receiving end, and performs parsing according to the sensing feedback signal to obtain the sensing information of the receiving end. Among them, the sensing feedback signal is the signal after the receiving end converts the integrated communication and sensing signal based on the integrated communication and sensing signal as the sensing modulation signal.

[0068] Please refer to Figure 5 , Figure 5 which is a schematic flowchart of S3 in the method for obtaining sensing information provided by an embodiment of the present application, including step S31, specifically as follows:

[0069] S31: Perform matched filtering on the sensing feedback signal to obtain the sensed feedback signal after matched filtering, and obtain the sensing information of the receiving end according to the sensed feedback signal after matched filtering and a preset data detection algorithm.

[0070] In this embodiment, the transmitting end performs matched filtering on the sensing feedback signal to obtain the sensed feedback signal after matched filtering to maximize the signal-to-noise ratio (SNR) of the signal, thereby improving the detection ability of the target.

[0071] The transmitting end analyzes the time delay and Doppler frequency shift in the sensed feedback signal after matched filtering according to the sensed feedback signal after matched filtering and a preset data detection algorithm, obtains the distance and speed angular frequency between the transmitting end and the receiving end, thereby capturing the target position and speed of the transmitting end, and obtaining the sensing information of the receiving end. Among them, the data detection algorithm is:

[0072]

[0073] In the formula, S is the sensing information, y m is the information vector of the m-th subcarrier in the sensing feedback signal, is the conjugate transpose of the information vector of the m-th subcarrier in the sensing feedback signal.

[0074] While ensuring the performance of radar and communication, it is possible to freely set and control the transmit power and peak-average power ratio to obtain an integrated communication and sensing signal, so as to achieve efficient sharing of spectrum sub-band resources and transmit power, maximize the utilization rate of spectrum resources, and minimize the negative impact of the distortion of the RF circuit transmit signal caused by the fact that the echo signal noise power may be greater than the echo power, so as to meet the information sensing requirements at a farther distance.

[0075] Please refer to Figure 6 , Figure 6 FIG. 6 is a schematic structural diagram of a sensing information acquisition device provided in an embodiment of the present application. The device can implement all or part of the sensing information acquisition device through software, hardware, or a combination of both. The device 6 includes:

[0076] A matrix construction module 61, configured to obtain a sensing modulation signal, and based on the ambiguity function, construct a time-delay Doppler ambiguity function matrix according to the sensing modulation signal;

[0077] A signal acquisition module 62, configured to construct an optimization problem function according to the time-delay Doppler ambiguity function matrix, with the minimization of the ambiguity function sidelobe as the optimization target and the channel capacity and peak-average power ratio as the constraints; use a fast convergence algorithm to iteratively solve the optimization problem function to obtain an integrated communication and sensing signal;

[0078] An information sensing module 63, configured to send the integrated communication and sensing signal to the receiving end, obtain a sensing feedback signal sent by the receiving end, and parse the sensing feedback signal to obtain the sensing information of the receiving end.

[0079] In the embodiment of the present application, through the matrix construction module, a sensing modulation signal is obtained, and based on the ambiguity function, a time-delay Doppler ambiguity function matrix is constructed according to the sensing modulation signal; through the signal acquisition module, according to the time-delay Doppler ambiguity function matrix, with the minimization of the ambiguity function sidelobe as the optimization target and the channel capacity and peak-average power ratio as the constraints, an optimization problem function is constructed; a fast convergence algorithm is used to iteratively solve the optimization problem function to obtain an integrated communication and sensing signal; through the information sensing module, the integrated communication and sensing signal is sent to the receiving end, a sensing feedback signal sent by the receiving end is obtained, and the sensing feedback signal is parsed to obtain the sensing information of the receiving end. While ensuring the performance of radar and communication, it is possible to freely set and control the transmit power and peak-average power ratio to obtain an integrated communication and sensing signal, so as to achieve efficient sharing of spectrum sub-band resources and transmit power, maximize the utilization rate of spectrum resources, and minimize the negative impact of the distortion of the RF circuit transmit signal caused by the fact that the echo signal noise power may be greater than the echo power, so as to meet the information sensing requirements at a farther distance.

[0080] Please refer toFigure 7 , Figure 7 is a schematic structural diagram of a computer device provided by an embodiment of the present application. The computer device 7 includes: a processor 71, a memory 72, and a computer program 73 stored in the memory 72 and executable on the processor 71; the computer device may store multiple instructions, and the instructions are applicable to be loaded and executed by the processor 71 to perform the above Figures 1 to 5 shown method steps, and the specific execution process can be referred to Figures 1 to 5 shown specific description, which will not be elaborated here.

[0081] Among them, the processor 71 may include one or more processing cores. The processor 71 connects various parts inside the server through various interfaces and lines, and by running or executing instructions, programs, code sets or instruction sets stored in the memory 72, and by calling data in the memory 72, it executes various functions of the perception information acquisition device 5 and processes data. Optionally, the processor 71 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 71 may integrate one or a combination of a central processing unit 71 (CPU), a graphics processing unit 71 (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface, application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the touch display screen; the modem is used to process wireless communication. It can be understood that the above modem may not be integrated into the processor 71 and may be implemented separately by a chip.

[0082] Among them, the memory 72 may include a random access memory (RAM), or may also include a read-only memory (ROM). Optionally, the memory 72 includes a non-transitory computer-readable storage medium. The memory 72 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 72 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch instructions, etc.), instructions for implementing the above method embodiments, etc.; the data storage area may store data involved in the above method embodiments. Optionally, the memory 72 may also be at least one storage device located far from the aforementioned processor 71.

[0083] An embodiment of the present application also provides a storage medium, which can store multiple instructions, and the instructions are suitable for being loaded and executed by a processor to perform the above Figures 1 to 5 shown method steps, and the specific execution process can be referred to Figures 1 to 5 the specific description shown, and will not be elaborated here.

[0084] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiments and will not be elaborated here.

[0085] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0086] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0087] In the embodiments provided by the present invention, it should be understood that the disclosed device / terminal device and method can be implemented in other ways. For example, the device / terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0088] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0089] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0090] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present invention, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc.

[0091] The present invention is not limited to the above embodiments. If various modifications or variations of the present invention do not depart from the spirit and scope of the present invention, and provided that these modifications and variations are within the scope of the claims of the present invention and equivalent technical scope, then the present invention also intends to encompass these modifications and variations.

Claims

1. A method for obtaining perception information, characterized in that: The following steps are involved: Acquire a perceptual modulation signal, and construct a delay-Doppler ambiguity function matrix according to the perceptual modulation signal based on an ambiguity function; According to the delay-Doppler ambiguity function matrix, an optimization problem function is constructed with minimization of the ambiguity function sidelobe as the optimization goal and channel capacity and peak-to-average power ratio as constraints; a fast convergence algorithm is used to iteratively solve the optimization problem function to obtain a communication perception integrated signal; The communication perception integrated signal is sent to a receiving end, a perception feedback signal sent by the receiving end is obtained, and the perception feedback signal is analyzed to obtain perception information of the receiving end.

2. The method for obtaining perception information according to claim 1, characterized in that: The method of constructing a delay-Doppler ambiguity function matrix based on the perception modulation signal based on the ambiguity function comprises the following steps: The transmission power and information vector of several subcarriers in the perception modulation signal are obtained, and according to the transmission power, information vector and preset delay and Doppler frequency shift of several subcarriers, a delay-Doppler fuzzy function matrix is ​​constructed based on the fuzzy function to obtain the delay-Doppler fuzzy function matrix.

3. The method for obtaining perception information according to claim 1, characterized in that: The constraint conditions include constraint conditions constructed based on channel capacity and constraint conditions constructed based on peak-to-average power ratio. The constraint conditions constructed based on channel capacity are used to indicate that the phase difference between the channel capacity and channel coding of several channels of several subcarriers in the perceptual modulation signal is less than a preset correction factor; the constraint conditions constructed based on peak-to-average power ratio are used to indicate that the peak-to-average power ratio of the perceptual modulation signal is greater than a preset peak-to-average power ratio upper limit and less than a preset peak-to-average power ratio lower limit.

4. The method for obtaining perception information according to claim 2, characterized in that: The optimization problem function is used to indicate the minimization of the ambiguity function side lobe, and the expression of the optimization problem function is: In the formula, f(τ, f d ) is the optimization problem function, N is the pulse string length of the perceptual modulation signal, p is the square of the fuzzy function, t is the numerical expansion constraint coefficient, Θ is the quantization number of Doppler frequency shift, and l is the lth quantization in the Doppler frequency shift.

5. The method for obtaining perception information according to claim 4, characterized in that: The method adopts a fast convergence algorithm to iteratively solve the optimization problem function to obtain a communication perception integrated signal, including the following steps: Obtaining the coefficients of the Taylor second-order expansion of the optimization problem function of the current iteration, and calculating the coefficients of the first approximate Hermitian matrix according to the Taylor second-order expansion coefficients of the optimization problem function of the current iteration to obtain the coefficients of the first approximate Hermitian matrix of the current iteration; Taking the perceptual modulation signal as an input signal of a current iteration, and performing coefficient calculation of a second approximation Hermitian matrix according to the input signal of the current iteration to obtain coefficients of a second approximation Hermitian matrix of the current iteration; According to the perception modulation signal of the current iteration, the coefficients of the first approximate Hermitian matrix and the coefficients of the second approximate Hermitian matrix, the preset upper bound function is iteratively solved to obtain the output signal of the current iteration, the output signal of the current iteration is used as the perception modulation signal of the next iteration, and the iterative solution is repeated to obtain the communication perception integrated signal.

6. The method for obtaining perception information according to claim 5, characterized in that: The perception feedback signal is a signal obtained by converting the communication perception integrated signal into the communication perception integrated signal as a perception modulation signal at the receiving end; The step of parsing the perception feedback signal to obtain the perception information of the receiving end comprises the following steps: Match filtering is performed on the perception feedback signal to obtain a perception feedback signal after the matched filtering, and perception information of the receiving end is obtained according to the perception feedback signal after the matched filtering and a preset data detection algorithm.

7. A device for obtaining perception information, characterized in that: include: A matrix construction module, used for acquiring a perceptual modulation signal, and constructing a delay-Doppler ambiguity function matrix according to the perceptual modulation signal based on an ambiguity function; A signal acquisition module is used to construct an optimization problem function according to the delay-Doppler ambiguity function matrix, with the minimization of the ambiguity function side lobe as the optimization goal, and the channel capacity and the peak-to-average power ratio as constraints; and adopt a fast convergence algorithm to iteratively solve the optimization problem function to obtain a communication perception integrated signal; The information perception module is used to send the communication perception integrated signal to the receiving end, obtain the perception feedback signal sent by the receiving end, and analyze the perception feedback signal to obtain the perception information of the receiving end.

8. A computer device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor; when the computer program is executed by the processor, the steps of the method for obtaining perception information as described in any one of claims 1 to 6 are implemented.

9. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for obtaining perception information according to any one of claims 1 to 6 are implemented.

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