Communication sensing integration implementation method, position sensing method, device and equipment

Abstract

The embodiment of the invention provides a communication perception integration implementation method, a position perception method, a position perception device and equipment. The method comprises the following steps: generating detection signals by using a first communication unit, respectively mapping the detection signals to a plurality of first sensing symbols of a first flexible frame, and sending the detection signals according to a preset first frame structure, the first flexible frame being a frame in the first frame structure; a second communication unit is used for receiving echo signals at each second sensing symbol of a second flexible frame according to a preset second frame structure and sending the echo signals to a sensing processing unit, the second frame structure is the same as the first frame structure, and the symbol ratios of the first flexible frame and the second flexible frame are different; the echo signal is a signal obtained after the detection signal is reflected by a target object; the relative position of the communication device and the target object is determined by using the perception processing unit. While the position is sensed, the normal communication service is not influenced, and the communication function and the position sensing function can be completed in the same communication device.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and in particular to a method for implementing integrated communication and perception, a location perception method, apparatus, and device. Background Art

[0002] In many communication scenarios, while communicating, it is also necessary to perceive the location of the target object. For example, while the vehicle is exchanging information with the service platform, it also needs to perceive the location of other objects around it.

[0003] In related communication and perception methods, the communication function is often implemented on one server or communication device, and the location perception function is implemented on another server or perception device. Therefore, location perception in communication usually requires two different servers or devices.

[0004] In some integrated synaesthesia methods, since communication functions and location awareness functions are difficult to implement in the same server or device, in the above scenarios, communication devices and devices for implementing location awareness are often integrated together to perform communication and location awareness at the same time. However, this method still requires the deployment of two sets of servers or devices separately, and cannot save the cost of servers or devices. Summary of the Invention

[0005] The embodiments of the present application provide a method for implementing integrated communication perception, a method, apparatus and equipment for position perception, which solve the problem in related technologies that communication functions and position perception functions cannot be simultaneously implemented in the same device. By deploying a virtual communication unit in the communication device, the same device can be used to complete the sending and receiving of communication signals, and by inserting a detection signal in the flexible frame of its frame structure when sending the communication signal, after the detection signal is reflected by the target object, the communication device can determine the relative position of the target object through the received echo signal. At the same time, since the frame structure of the sending and receiving signals is the same, and the symbol ratio of the flexible frame when sending and receiving signals is different, it is possible to achieve the perception of position without affecting normal communication services, and realize that the communication function and position perception function can be completed in the same communication device.

[0006] In a first aspect, an embodiment of the present application provides a method for implementing communication and perception integration, which is applied to a communication device, wherein the communication device includes a first communication unit, a second communication unit, and a perception processing unit; The method includes: Generate a sounding signal using a first communication unit, map the sounding signal to a plurality of first sensing symbols of a first flexible frame, and send the sounding signal according to a preset first frame structure, where the first flexible frame is a frame in the first frame structure; The second communication unit receives an echo signal at each second sensing symbol of the second flexible frame according to a preset second frame structure, and sends the echo signal to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratios of the first flexible frame and the second flexible frame are different. The echo signal is a signal obtained by reflecting the detection signal from the target object. The sensing processing unit is used to determine the relative position of the communication device and the target object based on the echo signal.

[0007] Each first perception symbol is configured as a downlink symbol and is set at a corresponding position in the first flexible frame; Furthermore, before mapping the detection signal to the plurality of first perception symbols of the first flexible frame respectively, the method further includes: Detecting whether the current symbol is a downlink symbol, and determining whether the current symbol is located at a position corresponding to any first perception symbol in the first flexible frame; When the current symbol is a downlink symbol and is located at a position corresponding to any first perception symbol in the first flexible frame, it is determined that the current symbol is the first perception symbol.

[0008] Each second perception symbol is configured as an uplink symbol and is set at a corresponding position in the second flexible frame; Furthermore, before receiving the echo signal at each second perception symbol of the second flexible frame, the method further includes: detecting whether the current symbol is an uplink symbol, and determining whether the current symbol is located at a position corresponding to any first perception symbol in the second flexible frame; When the current symbol is an uplink symbol and is located at a position corresponding to any first perception symbol in the second flexible frame, the current symbol is determined to be a second perception symbol.

[0009] In a second aspect, an embodiment of the present application provides a location perception method, which is applied to the perception processing unit as described in any of the above items; The method includes: Determine the cost function between the echo signal and the detection signal under different time delay conditions; Determine the target delay when the cost function is maximized; The relative position of the communication device and the target object is determined according to the target delay.

[0010] wherein the number of the first perception symbols and the number of the second perception symbols are the same as in any of the preceding items, and each first perception symbol in the first flexible frame corresponds to the second perception symbol at the same position in the second flexible frame; Furthermore, determining the cost function between the echo signal and the detection signal under different time delay conditions includes: determining, under different time delays, a mutual correlation coefficient between the detection signal of each first sensing symbol and the echo signal of the corresponding second sensing symbol; Determining the autocorrelation coefficient of the echo signal of each second perception symbol under different time delays using the cross-correlation coefficient; The cost function between the echo signal and the detection signal is determined by using the autocorrelation coefficient under different time delays.

[0011] The relative position includes the distance between the target object and the communication device; each second perception symbol is configured with multiple communication resources, and the time domain occupied by each communication resource is a single delay; Furthermore, determining the relative position of the communication device and the target object according to the target time delay includes: determining a target communication resource corresponding to the target delay of the second flexible frame from a plurality of communication resources; The distance between the communication device and the target object is determined by using the target communication resource and a sampling interval between two acquisitions of the second flexible frame.

[0012] The relative position also includes the direction of the target object relative to the communication device; Furthermore, determining the relative position of the communication device and the target object according to the target time delay further includes: Determine the target phase when the cost function is maximized; The target phase is determined as the direction of the target object relative to the communication device.

[0013] In a third aspect, an embodiment of the present application further provides a communication device, the device comprising: a first communication unit, a second communication unit, and a perception processing unit; a first communication unit configured to generate a sounding signal, map the sounding signal to a plurality of first sensing symbols of a first flexible frame, and send the sounding signal according to a preset first frame structure, where the first flexible frame is a frame in the first frame structure; a second communication unit configured to receive an echo signal at each second sensing symbol of a second flexible frame according to a preset second frame structure, and send the echo signal to the sensing processing unit, wherein the second frame structure is identical to the first frame structure, but the symbol ratios of the first flexible frame and the second flexible frame are different, and the echo signal is a signal obtained by reflecting the detection signal from the target object; The sensing processing unit is configured to determine the relative position of the communication device and the target object based on the echo signal.

[0014] In a fourth aspect, an embodiment of the present application provides a position sensing device, the device comprising: a cost function determination module, a delay determination module, and a relative position determination module; a cost function determination module configured to determine a cost function between the echo signal and the detection signal under different time delay conditions; a delay determination module configured to determine a target delay when the cost function is maximized; The relative position determination module is configured to determine the relative position of the communication device and the target object according to the target delay.

[0015] In a fifth aspect, an embodiment of the present application further provides an electronic device, the device comprising: one or more processors; a storage device configured to store one or more programs, When one or more programs are executed by one or more processors, the one or more processors implement the communication perception integration implementation method and / or location perception method of the embodiment of the present application.

[0016] In a sixth aspect, an embodiment of the present application further provides a non-volatile storage medium storing computer-executable instructions, which, when executed by a computer processor, are configured to execute the communication perception integration implementation method and / or location perception method of an embodiment of the present application.

[0017] In the seventh aspect, an embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor of the device reads and executes the computer program from the computer-readable storage medium, so that the device executes the communication perception integration implementation method and / or location perception method of the embodiment of the present application.

[0018] From the above, it can be seen that the communication perception integration implementation method, location perception method, device and equipment provided in the embodiments of the present application are based on the first communication unit and the second communication unit set in the communication device. When the first communication unit sends the communication signal according to the first frame structure, since the first frame structure contains the first flexible frame, the first communication unit can map the detection signal to the first flexible frame, and based on the time division duplex mechanism, it does not affect the sending of normal communication signals while sending the detection signal.

[0019] On the other hand, when the second communication unit receives the communication signal according to the second frame structure with the same structure, since a second flexible frame is also set in the same time slot in the second frame structure, the second communication unit can obtain the echo signal from the second flexible frame. Also based on the time division duplex mechanism, the reception of the normal communication signal is not affected while receiving the echo signal.

[0020] Therefore, after acquiring the echo signal, the relative position between the target object and the communication device can be determined based on the echo signal, thereby realizing the simultaneous performance of both communication and position perception functions in the same communication device without deploying additional hardware.

[0021] Based on this, based on the acquired echo signal, since the echo signal is formed after the detection signal is reflected by the target object, the cost function between the echo signal and the detection signal can be determined under different time delays, so that when the cost function is maximum, the correlation between the echo signal and the detection signal is the highest, so that the corresponding time delay can be determined, that is, the target time delay is obtained. Since the detection signal causes the target time delay during the transmission and reflection process, the relative position between the communication device and the target object can be determined based on the target time delay. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 A flowchart of a method for implementing communication perception integration provided in an embodiment of the present application; Figure 2 A schematic diagram of symbol matching provided in an embodiment of the present application; Figure 3 A schematic diagram of signal processing provided in an embodiment of the present application; Figure 4 A schematic diagram of communication unit interaction provided in an embodiment of the present application; Figure 5 A schematic diagram of signal interaction of a communication device provided in an embodiment of the present application; Figure 6 A flowchart of a location awareness method provided in an embodiment of the present application; Figure 7 A structural block diagram of a communication device provided in an embodiment of the present application; Figure 8 A structural block diagram of a location sensing device provided in an embodiment of the present application; Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following is a further detailed description of the embodiments of the present application in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions of the embodiments of the present application, rather than all structures.

[0025] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, not to describe a specific order or precedence. It should be understood that such terms are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein. The terms "first," "second," and the like generally distinguish objects of a class and do not limit the number of objects. For example, the first object can be one or more. Furthermore, the terms "and / or" in the specification and claims refer to at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the preceding and following objects. Terms such as "include" or "comprising" mean that the element or object preceding the term includes the elements or objects listed after the term, and their equivalents, without excluding other elements or objects. Terms such as "connected" or "connected" are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; if the absolute position of the described objects changes, the relative positional relationship may also change accordingly.

[0026] As described in the background technology section, the relevant communication perception integration implementation methods are still difficult to meet the needs of actual scenarios.

[0027] In the process of implementing this application, the applicant discovered that the main problem with the relevant communication perception integration implementation method is that in the relevant communication mode, the communication function is usually implemented on a server or communication device, while in the relevant location perception mode, it is usually implemented on another server or perception device.

[0028] However, in many communication scenarios, while communicating, it is also necessary to perceive the location of the target object. For example, while the vehicle is interacting with the service platform, it also needs to perceive the location of other objects around it.

[0029] The applicant also found that in scenarios where communication and location awareness need to be performed simultaneously, in the relevant communication and awareness integration implementation method, since the communication function and location awareness function are difficult to implement in the same server, device or equipment, the server or communication device used to implement the communication function and another server or awareness device used to implement the location awareness function are often integrated into the same communication device, so as to perform communication and location awareness simultaneously.

[0030] However, since this method requires deploying two sets of servers, hardware devices or hardware equipment in the same communication device to respectively realize the communication function and location awareness function, it undoubtedly increases additional costs compared to deploying only one set of servers, hardware devices or hardware equipment, and also increases the computing power of the communication device.

[0031] Based on this, one or more embodiments in the present application provide a method for implementing integrated communication perception, which is based on deploying a virtual communication unit in a communication device, so that the same device can be used to complete the sending and receiving of communication signals, and by inserting a detection signal in the flexible frame of its frame structure when sending a communication signal, so that after the detection signal is reflected by the target object, the communication device can determine the relative position of the target object through the received echo signal. At the same time, since the frame structure of the sending and receiving signals is the same, and the symbol ratio of the flexible frame when sending and receiving signals is different, it is possible to achieve position perception without affecting normal communication services, and realize that communication function and position perception function can be completed in the same communication device.

[0032] The embodiment of the present application provides a method for implementing integrated communication perception. The execution entity of each step can be any electronic device in a communication base station that has data calculation, processing and storage capabilities, etc., and the embodiment of the present application does not limit this.

[0033] In some examples, a communication base station for executing the present method is provided with a communication device, which includes a first communication unit, a second communication unit, and a perception processing unit.

[0034] Among them, the communication device may also include a BBU (Baseband Unit, baseband processing unit), which can be used to establish a virtual first communication unit and a second communication unit; the first communication unit may also be referred to as Cell0 or cell 0 in the embodiment of the present application, and the second communication unit may also be referred to as Cell1 or cell 1 in the embodiment of the present application.

[0035] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0036] Figure 1 This is a flow chart of a communication perception integration implementation method provided in an embodiment of the present application. Figure 1As shown, the following steps are included: Step S101: Generate a detection signal using the first communication unit, map the detection signal to multiple first perception symbols of a first flexible frame, and send the detection signal according to a preset first frame structure, where the first flexible frame is a frame in the first frame structure.

[0037] In this embodiment, when sending a signal, the first communication unit may send the signal according to a preset first frame structure.

[0038] The first frame structure may be regarded as a time slot ratio used by the first communication unit when sending a signal.

[0039] In some examples, the frame structure may be, for example, 7D1S2U or 3D1U, etc.

[0040] 7D1S2U indicates 10 time slots configured in the order of 7 downlink frames, 1 S frame (flexible frame), and 2 uplink frames, where each time slot can be considered as one frame.

[0041] Each frame includes multiple symbols, and the types of symbols included in each frame can be one or more of uplink symbols, downlink symbols, and null symbols.

[0042] The above-mentioned S frame indicates that within the corresponding time slot, the ratio of uplink symbols, downlink symbols and null symbols can be dynamically adjusted according to business needs.

[0043] In this embodiment, when the first frame structure is 7D1S2U, the communication device may use the first communication unit to generate a detection signal, and map the detection signal into a first S frame in a complete first frame structure.

[0044] Based on this, the first communication unit can be made to send the signal of each frame according to the time slot ratio of the first frame structure.

[0045] Specifically, a communication signal for normal communication may be sent in an uplink frame and a downlink frame, and a detection signal may be sent in the first S frame.

[0046] Among them, the multiple symbols in the first S frame include multiple communication symbols used for normal communication and multiple first perception symbols used for carrying detection signals.

[0047] Based on this, a detection signal can be mapped at each first perception symbol.

[0048] In this embodiment, after the detection signal is sent by the first communication unit, it will be reflected after encountering the target object. In this embodiment, the detection signal reflected by the target object is used as the echo signal.

[0049] Step S102: Utilize the second communication unit to receive an echo signal at each second perception symbol of the second flexible frame according to a preset second frame structure, and send the echo signal to the perception processing unit. The second frame structure is the same as the first frame structure, and the symbol ratios of the first flexible frame and the second flexible frame are different. The echo signal is a signal after the detection signal is reflected by the target object.

[0050] In this embodiment, when receiving a signal, the second communication unit may receive the signal according to a preset second frame structure.

[0051] The second frame structure may be regarded as a time slot ratio used by the second communication unit when receiving a signal, and the first frame structure and the second frame structure have the same structure, that is, the time slot ratios of the two are the same.

[0052] In some examples, when the first frame structure is 7D1S2U, the second frame structure is also the same 7D1S2U.

[0053] In this embodiment, the communication device may enable the second communication unit to receive the signal of each frame according to the time slot ratio of the second frame structure.

[0054] Specifically, a communication signal for normal communication may be received in an uplink frame and a downlink frame, and an echo signal may be received in a second S frame.

[0055] The multiple symbols in the second S frame include multiple communication symbols used for normal communication and multiple second perception symbols used for carrying detection signals.

[0056] Based on this, an echo signal can be received at every second perception symbol.

[0057] Furthermore, after the second communication unit receives the echo signal, the echo signal may be sent to the perception processing unit in the communication device.

[0058] Step S103: Utilize the sensing processing unit to determine the relative position of the communication device and the target object according to the echo signal.

[0059] In this embodiment, based on the echo signal received in the aforementioned step S102, the perception processing unit can receive an echo signal from the second communication unit. At the same time, since the perception processing unit is integrated in the communication device, the perception processing unit can obtain the detection signal when the first communication unit sends the detection signal.

[0060] Based on this, the perception processing unit can use the echo signal and the detection signal to calculate the relative position between the communication device and the target object.

[0061] The relative position between the communication device and the target object may specifically include the direction and distance of the target object relative to the communication device.

[0062] In some specific situations, when the target object is in a moving state, based on the echo signals received twice, after determining the relative position using each echo signal respectively, the twice determined relative positions can be used to determine the moving speed of the target object.

[0063] It can be seen that the communication perception integration implementation method of the above-mentioned embodiment of the present application is based on the first communication unit and the second communication unit set in the communication device. When the first communication unit sends the communication signal according to the first frame structure, since the first frame structure contains the first flexible frame, the first communication unit can map the detection signal to the first flexible frame, and based on the time division duplex mechanism, it does not affect the sending of normal communication signals while sending the detection signal.

[0064] On the other hand, when the second communication unit receives the communication signal according to the second frame structure with the same structure, since a second flexible frame is also set in the same time slot in the second frame structure, the second communication unit can obtain the echo signal from the second flexible frame. Also based on the time division duplex mechanism, the reception of the normal communication signal is not affected while receiving the echo signal.

[0065] Therefore, after acquiring the echo signal, the relative position between the target object and the communication device can be determined based on the echo signal, thereby realizing the simultaneous performance of both communication and position perception functions in the same communication device without deploying additional hardware.

[0066] In some specific examples of the present application, Table 1 is a time slot ratio table of the first frame structure and the second frame structure.

[0067] Table 1. Time slot ratio table

[0068] It can be seen from Table 1 above that Cell0, also known as cell 0, is a specific example of the first communication unit, and Cell1, also known as cell 1, is a specific example of the second communication unit; the time slot ratio for Cell0 to send the detection signal, that is, the first frame structure of the first communication unit is DDDDDDDSUU, where D represents the downlink frame and U represents the uplink frame, and the time slot ratio for Cell1 to receive the echo signal, that is, the second frame structure of the second communication unit is also the same DDDDDDDSUU.

[0069] Further, Figure 2 A symbol matching schematic diagram provided in an embodiment of the present application is shown.

[0070] like Figure 2As shown, the first S frame of Cell0 is set with 14 symbols and Figure 2 They are represented as Sym0, Sym1, Sym2, Sym3, Sym4, Sym5, Sym6, Sym7, Sym8, Sym9, Sym10, Sym11, Sym12 and Sym13 respectively.

[0071] Among them, Sym0, Sym1, Sym2, Sym3 and Sym4 of Cell0 are DL (downlink symbols) used for normal communication, Sym5, Sym6, Sym7, Sym8 and Sym9 of Cell0 are DL for sending detection signals, Sym10 of Cell0 is G (null symbol), and Sym11, Sym12 and Sym13 of Cell0 are UL (uplink symbols) used for normal communication.

[0072] The second S frame of Cell 1 also has 14 symbols, and Figure 2 They are also represented as Sym0, Sym1, Sym2, Sym3, Sym4, Sym5, Sym6, Sym7, Sym8, Sym9, Sym10, Sym11, Sym12 and Sym13 respectively.

[0073] Among them, Sym0, Sym1, Sym2 and Sym3 of Cell1 are DL for normal communication, Sym4 of Cell1 is G, Sym5, Sym6, Sym7, Sym8 and Sym9 are UL for receiving echo signals, Sym10, Sym11, Sym12 and Sym13 are UL for normal communication.

[0074] Based on this, based on the detection signals mapped by Cell1 to Sym5, Sym6, Sym7, Sym8 and Sym9 of the first S frame respectively, after the detection signal of each first perception symbol is reflected by the target object, Cell0 can receive the echo signals at Sym5, Sym6, Sym7, Sym8 and Sym9 of the second S frame respectively, and send each echo signal to the perception processed unit.

[0075] In some embodiments of the present application, before the first communication unit maps the detection signal to each first perception symbol of the first S frame, it is necessary to determine whether the current symbol is a first perception symbol. Before the second communication unit receives the echo signal from the perception symbol of the second S frame, it is necessary to determine whether the current symbol is a second perception symbol.

[0076] In this embodiment, as described in the previous embodiment, the first perception symbol is a downlink symbol at a specified position in the first S frame.

[0077] Accordingly, when the first perception symbol is a downlink symbol in the first S frame and is respectively located at the corresponding Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S frame, it is possible to determine whether each symbol is a downlink symbol, and determine whether the current symbol is at any position among Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S frame.

[0078] Based on this, if the first communication unit determines that the current symbol is a downlink symbol and is located at the position of Sym5, Sym6, Sym7, Sym8 or Sym9 in the first S frame, it can be determined that the current symbol is the first perception symbol.

[0079] As described in the previous embodiment, the second perception symbol is also an uplink symbol at a specified position in the second S frame, and the position of the second perception symbol in the second S frame is the same as the position of the first perception symbol in the first S frame.

[0080] That is, when the first perception symbol is a downlink symbol in the first S frame and is respectively located at the corresponding Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S frame, the second perception symbol can be considered as an uplink symbol in the second S frame and is respectively located at the corresponding Sym5, Sym6, Sym7, Sym8 and Sym9 in the second S frame.

[0081] Based on this, it can be determined whether each current symbol is an uplink symbol, and whether the current symbol is located at any position of Sym5, Sym6, Sym7, Sym8 and Sym9 in the second S frame.

[0082] Based on this, if the second communication unit determines that the current symbol is an uplink symbol and is located at the position of Sym5, Sym6, Sym7, Sym8 or Sym9 in the second S frame, it can be determined that the current symbol is a second perception symbol.

[0083] In a specific example of this application, Figure 3 A schematic diagram of signal processing provided by an embodiment of the present application is shown.

[0084] like Figure 3 As shown, based on step S301, Cell0 and Cell1 are established, and corresponding steps can be performed for Cell0 and Cell1 respectively, thereby achieving simultaneous communication and location awareness.

[0085] Specifically, based on step S301, for Cell0, step S302 may be further performed to determine whether it is a first perception symbol.

[0086] In this step, Cell0 may determine whether each current symbol is the first perception symbol in the first S frame according to the aforementioned embodiment.

[0087] Based on the judgment in step S302, in the case that the current symbol is the first perception symbol, step S304 may be further performed to generate a detection signal.

[0088] In this step, after determining that the current symbol is the first perception symbol, Cell0 may generate a detection signal for the first perception symbol.

[0089] Furthermore, based on the generated detection signal, step S305 may be further performed to map the detection signal.

[0090] In this step, the detection signal generated in the aforementioned step S304 may be mapped to the current first perception symbol.

[0091] It should be noted that, before determining whether the current symbol is the first perception symbol, that is, before step S302 , a detection signal may be generated in advance, and if the determination result of step S302 is yes, step S305 may be directly executed.

[0092] Furthermore, based on step S305, step S306 may be further executed to send a detection signal, thereby sending the detection signal at the first sensing symbol to the target object.

[0093] In this embodiment, based on the judgment in step S302, when the current symbol is a communication symbol and not the first perception symbol, step S303 can be further executed to receive a communication signal or generate a communication signal.

[0094] In this step, based on the judgment of the aforementioned step S302, if the position of the current symbol is not any of Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S frame, and is a downlink symbol, a communication signal is sent to the predetermined target address; if the position of the current symbol is not any of Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S frame, and is an uplink symbol, a communication signal is received.

[0095] In this embodiment, after completing step S303 or step S306, the process may further return to step S302 to continue determining whether the next symbol is the first perception symbol.

[0096] In this embodiment, based on step S301, for Cell1, step S307 may be further performed to determine whether it is a second perception symbol.

[0097] In this step, Cell1 may determine whether each current symbol is a second perception symbol in the second S frame according to the above embodiment.

[0098] Based on the judgment in step S307, in the case that the current symbol is the second perception symbol, step S308 may be further performed to receive the echo signal.

[0099] In this step, Cell1 may receive an echo signal at the current symbol after determining that the current symbol is the second perception symbol.

[0100] Furthermore, based on the received echo signal, step S309 may be further executed, and the echo signal may be sent to the sensing processing unit for processing.

[0101] In this step, the echo signal received in the aforementioned step S308 may be sent to the perception processing unit.

[0102] In this embodiment, based on the determination in step S307 , if the current symbol is a communication symbol and not a second perception symbol, step S310 may be further executed to receive a communication signal or generate a communication signal.

[0103] In this step, based on the judgment of the aforementioned step S307, if the position of the current symbol is not any of Sym5, Sym6, Sym7, Sym8 and Sym9 in the second S frame, and is a downlink symbol, a communication signal is sent to the predetermined target address; if the position of the current symbol is not any of Sym5, Sym6, Sym7, Sym8 and Sym9 in the second S frame, and is an uplink symbol, a communication signal is received.

[0104] In this embodiment, after completing step S309 or step S310, the process may further return to step S307 to continue determining whether the next symbol is the second perception symbol.

[0105] In some embodiments of the present application, the second communication unit may complete the reception of the echo signal by performing multiple interactions with the first communication unit.

[0106] Figure 4 A schematic diagram of communication unit interaction provided in an embodiment of the present application is shown.

[0107] refer to Figure 4 After the communication device is powered on, Cell0 as the first communication unit and Cell1 as the second communication unit are both in the initialization state.

[0108] Based on this, Cell0 and Cell1 can be initialized. After Cell0 and Cell1 complete the initialization, Cell1 sends a ready message to Cell0 to notify Cell0 that it is ready to receive the echo signal.

[0109] Furthermore, after Cell0 receives the ready message sent by Cell1, Cell0 replies with a confirmation message to Cell1.

[0110] After Cell1 receives the reply message, both Cell0 and Cell1 are in the ready state.

[0111] After entering the ready state, the communication device may enable Cell 1 to enter the receiving state, so that Cell 1 receives the echo signal.

[0112] When Cell1 is in the receiving state, Cell0 sends a detection signal to the outside of the communication device. The detection signal can be expressed as Figure 4 DATA message in .

[0113] Furthermore, after obtaining the DATA message, Cell1 may send a confirmation message to Cell0, wherein the DATA message obtained by Cell1 may be regarded as an encapsulated echo signal.

[0114] Furthermore, based on the fact that the number of first perception symbols in the first S frame is 5 and the number of second perception symbols in the second S frame is also 5 in the aforementioned embodiment, Cell1 can determine the cumulative number of DATA messages received in the same S frame or the same frame structure after each receipt of a DATA message, and set a quantity threshold S.

[0115] If the accumulated number of DATA messages is less than the number threshold S, Cell1 returns to the ready state after receiving the current DATA message and continues to receive DATA messages.

[0116] If the cumulative number of DATA messages is greater than or equal to the number threshold S, Cell1 enters the sensing state after receiving the current DATA message.

[0117] Based on this, Cell1 in the sensing state can send the echo signal to the sensing processing unit, so that the sensing processing unit can use the echo signal to determine the relative position of the target object, and Cell1 sends the determined relative position to the display platform for display.

[0118] Furthermore, after determining the relative position of the target object, Cell1 may send a confirmation message to Cell0. After Cell0 receives the confirmation message, both Cell0 and Cell1 enter the ready state.

[0119] In some embodiments of the present application, in addition to the first communication unit, the second communication unit and the perception processing unit, the communication device also includes PHY (physical layer), EU (Extension Unit) and RU (Radio Unit). The first communication unit and the second communication unit can complete signal interaction through PHY, EU and RU.

[0120] Specifically, Figure 5 A signal interaction diagram of a communication device provided in an embodiment of the present application is shown.

[0121] refer to Figure 5 The communication device includes a BBU, an EU and an RU, wherein the BBU includes Cell0 representing a first communication unit and Cell1 representing a second communication unit. In addition, the BBU also includes a PHY, which includes a Cell0 PHY subunit for cooperating with Cell0 and a Cell1 PHY subunit for cooperating with Cell1.

[0122] exist Figure 5 In the example, the communication device is provided with a time division duplex system, so that the high-level protocol stack of Cell0 can allocate time domain resources and frequency domain resources according to the preset user scheduling information, and then Cell0 can map the detection signal to the first S frame without affecting the normal communication service.

[0123] Furthermore, after Cell0 maps the detection signal to the first S frame, Cell0 can send the detection signal to the Cell0 PHY subunit through fapi (fast Application Programming Interface) to generate an IQ signal (In-Phase and Quadrature Signal), and send the IQ signal to the EU0 subunit cooperating with Cell0 in the EU through ecpri (enhanced Common Public Radio Interface).

[0124] Furthermore, the EU0 subunit performs a fast Fourier transform or an inverse fast Fourier transform on the IQ signal, thereby completing the transformation between the frequency domain and the time domain of the IQ signal.

[0125] Furthermore, the EU0 subunit may send the converted IQ signal to the RU0 subunit cooperating with Cell0 in the RU via the Common Public Radio Interface (CPRI). Accordingly, the RU0 subunit may send the IQ signal to the outside of the communication device.

[0126] Furthermore, after receiving the IQ signal from outside the communication device, the RU1 subunit cooperating with Cell1 in the RU sends the IQ signal to the EU1 subunit cooperating with Cell1 in the EU through cpri.

[0127] Based on this, the EU1 subunit can perform fast Fourier transform or inverse fast Fourier transform on the IQ signal, thereby completing the transformation between the frequency domain and time domain of the IQ signal.

[0128] Furthermore, the EU1 subunit may send the transformed IQ signal to the Cell1 PHY subunit cooperating with Cell1 in the PHY through ecpri.

[0129] Based on this, the Cell1 PHY subunit can convert the IQ signal into an echo signal and send it to Cell1 through fapi.

[0130] Based on the division duplex system, the high-level protocol stack of Cell1 can allocate time domain resources and frequency domain resources according to preset user scheduling information, so that Cell1 can obtain the echo signal from the second S frame without affecting normal communication services.

[0131] exist Figure 5 In the example, the BBU also includes a perception processing unit, which is communicatively connected to Cell0 and Cell1, so as to obtain the echo signal from Cell1 and the detection signal sent by Cell0.

[0132] Furthermore, after Cell1 acquires the echo signal, the echo signal may be sent to the perception processing unit, so that the perception processing unit determines the current relative position of the target object according to the current echo signal.

[0133] In some embodiments of the present application, each first perception symbol includes a plurality of communication resources, and the first communication unit may generate a corresponding detection signal according to the number of communication resources in the first perception symbol.

[0134] Among them, each first perception symbol includes multiple resource blocks, each resource block includes multiple communication resources, and each communication resource can be regarded as a subcarrier interval. Accordingly, the detection signal can be determined according to the number of resource blocks and the number of communication resources in each resource block.

[0135] In a specific example, the detection signal can be expressed as the following formula (1): (1) Wherein, t_signal represents the detection signal, NumRe represents the number of communication resources in a single first perception symbol, pwr represents the scaling factor of the detection signal, and k represents the index value of the communication resource.

[0136] In a specific example of this embodiment, taking the subcarrier spacing of bandwidth 100M30k as an example, a single first perception symbol may include 273 resource blocks, each resource block includes 12 communication resources, and thus a single first perception symbol includes 3276 communication resources. Therefore, the index value of the communication resource is 0-3276-1; the pwr value can be, for example, 10.

[0137] Furthermore, in each first S-frame, five consecutive symbols can be used as first perception symbols, and the detection signal determined according to the above formula (1) can be mapped to each first perception symbol respectively, so that the contents of the five first perception symbols are the same. This can help accumulate signal energy and enhance the detection effect in a noisy environment.

[0138] In some embodiments of the present application, a position sensing method is provided, which is applied to the sensing processing unit in any of the previous embodiments. After the sensing processing unit obtains the echo signal, the echo signal and the detection signal can be used to determine the relative position between the communication device and the target object.

[0139] In this embodiment, Figure 6 A flow chart of a location awareness method provided in an embodiment of the present application is shown.

[0140] refer to Figure 6 The location sensing method of the embodiment of the present application includes the following steps: Step S601: Determine the cost function between the echo signal and the detection signal under different time delay conditions.

[0141] In a specific example, for the echo signal obtained by the perception processing unit from each second perception symbol, taking the subcarrier spacing of 100M30k as an example, the number of resources of each second perception symbol is 3276. After the received echo signal is converted into the time domain, there are 3276 sampling points, and each sampling point in the time domain is a single time deviation τ. Based on this, 3276τ can be used as a preset delay window, in which a single delay is a single time deviation τ, so that the cost function between the echo signal and the detection signal under different delays can be determined. Based on this, in this embodiment, a single delay can also be expressed as τ.

[0142] For an echo signal of any second perception symbol at a specified time delay, the cost function may be used to represent the degree of correlation between the echo signal and the detection signal.

[0143] Specifically, in actual work, a preset cross-correlation algorithm can be used to determine the cross-correlation coefficient between the echo signal and the detection signal, and the cross-correlation coefficient is used to represent the degree of correlation between the echo signal and the detection signal under corresponding time delay conditions.

[0144] However, due to the presence of noise and other interference, the cross-correlation coefficient determined by the cross-correlation algorithm often cannot accurately represent the true correlation between the echo signal and the detection signal, and thus cannot smoothly and accurately determine the time delay corresponding to the maximum correlation.

[0145] In this embodiment, the cost function can not only characterize the degree of correlation between the echo signal and the detection signal, but also amplify the correlation coefficient between the echo signal and the detection signal, thereby reducing interference such as noise, and further accurately determine the degree of correlation between the echo signal and the detection signal under different time delay conditions.

[0146] Step S602: Determine the target delay when the cost function is maximum.

[0147] In this embodiment, based on the cost functions corresponding to different time delays determined in the aforementioned step S601 , the time delay corresponding to the maximum cost function may be used as the time delay when the correlation between the echo signal and the detection signal is maximum.

[0148] Based on this, the delay can be determined as the target delay.

[0149] Step S603: Determine the relative position of the communication device and the target object according to the target delay.

[0150] In this embodiment, based on the target delay determined in the aforementioned step S602, since the correlation between the echo signal and the detection signal is maximized during the target delay, the target delay can specifically represent: the specific time from when the first communication unit sends the detection signal until the second communication unit obtains the echo signal.

[0151] This includes the process in which the detection signal is reflected by the target object to form an echo signal.

[0152] Therefore, the relative position between the communication device and the target object, specifically the relative position between the first communication unit integrated in the communication device and the target object, can be determined based on the target delay.

[0153] It can be seen that the position sensing method of this embodiment is based on the acquired echo signal. Since the echo signal is formed after the detection signal is reflected by the target object, the cost function between the echo signal and the detection signal can be determined under different time delays. Therefore, when the cost function is maximum, the correlation between the echo signal and the detection signal is the highest, so that the corresponding time delay can be determined, that is, the target time delay is obtained. Since the detection signal causes the target time delay during the transmission and reflection process, the relative position between the communication device and the target object can be determined based on the target time delay.

[0154] In some embodiments of the present application, in the process of determining the cost function between the echo signal and the detection signal, for the echo signal of each second perception symbol, the mutual correlation coefficient between the echo signal and the detection signal can be determined under different time delay conditions, so that the autocorrelation coefficient of the echo signal of each second perception symbol can be determined using the corresponding mutual correlation coefficient under the same time delay, and the cost function under the time delay condition can be determined using the autocorrelation coefficient and mutual correlation coefficient of each time delay.

[0155] In a specific example, based on the aforementioned embodiment, there is a one-to-one correspondence between the five first sensing symbols in the first S frame and the five second sensing symbols in the second S frame. That is, not only is the number of first sensing symbols in the first S frame the same as the number of second sensing symbols in the second S frame, but also for the first sensing symbol at any position in the first S frame, there is a correspondence with the second sensing symbol at the same position in the second S frame.

[0156] For example, Sym5 in the first sensing symbol corresponds to Sym5 in the second sensing symbol, Sym6 in the first sensing symbol corresponds to Sym6 in the second sensing symbol, Sym7 in the first sensing symbol corresponds to Sym7 in the second sensing symbol, Sym8 in the first sensing symbol corresponds to Sym8 in the second sensing symbol, and Sym9 in the first sensing symbol corresponds to Sym9 in the second sensing symbol; since the detection signal is mapped to Sym5, Sym6, Sym7, Sym8 and Sym9 of the first S frame in sequence, the echo signals should be received in the order of Sym5, Sym6, Sym7, Sym8 and Sym9 in the second S frame.

[0157] In this embodiment, for the sake of simplicity of description, the first sensing symbol and the second sensing symbol that have a corresponding relationship and are located at the same position in their respective frames can be regarded as the same sensing symbol, and no distinction is made in their specific representations. That is, if there is no specific description in this embodiment, the following Sym5 can refer to Sym5 in the first S frame and / or Sym5 in the second S frame.

[0158] Based on this, the cost function and the mutual correlation coefficient specifically represent the degree of correlation between two corresponding sensing symbols.

[0159] In some specific examples, when calculating the cost function, the conjugate cross-correlations between the echo signal of each second perception symbol and the corresponding detection signal under different time delay conditions may be determined respectively.

[0160] Based on the specific example of formula (1), the conjugate cross-correlation between each echo signal and the detection signal at different time delays can be expressed as the following formula (2): (2) in, represents the correlation coefficient between the echo signal and the detection signal of the corresponding perception symbol Sym under the condition of time delay τ, r represents the index value of the first perception symbol and / or the second perception symbol, t_signal * [k] represents taking the conjugate of the detection signal of the communication resource index value k.

[0161] In this embodiment, each communication resource index value k represents a communication resource at a specified position in a symbol, and the time domain of the communication resource is a single time deviation τ, that is, a single delay τ. That is, the communication resource index value k can be used to represent the kth delay τ.

[0162] In some examples, the value of τ can be, for example, from 0 to 3276-1, that is, from 0 to 3275; as in the previous embodiment, when the number of communication resources is 3276, the value of k can be, for example, from 0 to 3276-1, that is, from 0 to 3275; the value of the index value r can specifically be, for example, the index value 0 corresponding to Sym5, the index value 1 corresponding to Sym6, the index value 2 corresponding to Sym7, the index value 3 corresponding to Sym8, or the index value 4 corresponding to Sym9.

[0163] Based on this, when calculating the correlation coefficients between the corresponding detection signals and perception signals under different values ​​of τ, the above formula (2) can be decomposed into multiple formulas.

[0164] When the value of τ is 0, take the following formulas (3)-(7) as an example: The correlation coefficient between the detection signal and the echo signal carried by sym5 is expressed as follows: (3) The correlation coefficient between the detection signal and the echo signal carried by sym6 is expressed as follows: (4) The mutual correlation coefficient between the detection signal and the echo signal carried by sym7 is expressed as the following formula (5): (5) The correlation coefficient between the detection signal and the echo signal carried by sym8 is expressed as follows: (6) The mutual correlation coefficient between the detection signal and the echo signal carried by sym9 is expressed as follows: (7) Furthermore, when the value of τ is 1, take the following formulas (8)-(12) as an example: The correlation coefficient between the detection signal and the echo signal carried by sym5 is expressed as follows: (8) The mutual correlation coefficient between the detection signal and the echo signal carried by sym6 is expressed as follows: (9) The correlation coefficient between the detection signal and the echo signal carried by sym7 is expressed as follows: (10) The mutual correlation coefficient between the detection signal and the echo signal carried by sym8 is expressed as follows: (11) The correlation coefficient between the detection signal and the echo signal carried by sym9 is expressed as follows: (12) Based on this, after the mutual correlation coefficient is determined, the autocorrelation coefficient of each second perception symbol in the same second S frame can be further determined.

[0165] In a specific example, the autocorrelation coefficient can be calculated according to the following formula (13): (13) Where S(τ) represents the autocorrelation coefficient of each second perception symbol at a time delay of τ, It represents taking the conjugate of the above-determined mutual correlation coefficient, and m is the accumulation coefficient.

[0166] In the example of formula (13), the value of m can be 1 and 4. When m is 1, then the value in formula (13) The part specifically reflects that the mutual correlation coefficient of the perception symbol is multiplied by the conjugate of the mutual correlation coefficient of the adjacent perception symbol and then accumulated; when m is 4, then the formula (13) Partially, the mutual correlation coefficient of the perception symbol is multiplied by the conjugate of the mutual correlation coefficient of the perception symbol separated by three symbols, and the resultant is accumulated.

[0167] Furthermore, based on the aforementioned determined mutual correlation coefficient and autocorrelation coefficient, the cost function under each delay condition can be determined according to the following formula (14): (14) in, represents the cost function with time delay τ, Express Take the conjugate.

[0168] Based on this, we can traverse all time delays τ to determine the cost function of each time delay τ. When the cost function is maximum, the autocorrelation coefficient of the time delay is the largest, and it is determined as the target time delay. In this embodiment, since the communication resource index value k can be used to represent the kth time delay τ, when representing the target time delay, the communication resource index value k_peak corresponding to the target time delay can be used to represent it.

[0169] Based on this, the two second S frames may be sampled respectively, and the above k_peak calculation may be performed respectively, so that the relative position between the communication device and the target object may be determined.

[0170] The relative position specifically includes the distance between the communication device and the target object, and the direction of the target object relative to the communication device.

[0171] Specifically, the distance between the communication device and the target object can be determined using the following formula (15): (15) Where d represents the distance, c represents the speed of light, and Ts represents the sampling interval between two samples.

[0172] Furthermore, since the cost function ρ is a complex number, the cost function can be expressed as the following formula (16): (16) Where θ represents the phase of the perception signal.

[0173] Based on this, the phase θ can be determined as the direction of the target object relative to the communication device.

[0174] In some embodiments of the present application, based on the cost functions ρ1 and ρ2 respectively obtained through two samplings, the phase difference Δθ between the corresponding phase θ1 and the phase θ2 can be determined.

[0175] Furthermore, based on the phase difference Δθ and the sampling interval Ts between the two samples, the moving distance of the target object can be determined.

[0176] In this embodiment, the moving distance of the target object can be expressed as the following formula (17): (17) Wherein, L represents the moving distance.

[0177] Based on this, the ratio between the moving distance L and the sampling interval Ts can be determined as the moving speed of the target object.

[0178] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, an embodiment of the present application further provides a communication device.

[0179] Figure 7 This is a structural block diagram of a communication device provided in an embodiment of the present application. The device is configured to execute the communication perception integration implementation method provided in the above embodiment, and has corresponding functional modules and beneficial effects of the execution method.

[0180] like Figure 7 As shown, the device includes: a first communication unit 701, a second communication unit 702 and a perception processing unit 703; The first communication unit 701 is configured to generate a sounding signal, map the sounding signal to a plurality of first sensing symbols of a first flexible frame, and send the sounding signal according to a preset first frame structure, where the first flexible frame is a frame in the first frame structure; The second communication unit 702 is configured to receive an echo signal at each second sensing symbol of a second flexible frame according to a preset second frame structure, and send the echo signal to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratios of the first flexible frame and the second flexible frame are different. The echo signal is a signal after the detection signal is reflected by the target object. The sensing processing unit 703 is configured to determine the relative position of the communication device and the target object according to the echo signal.

[0181] It can be seen that based on the first communication unit and the second communication unit set in the communication device, when the first communication unit sends the communication signal according to the first frame structure, since the first frame structure contains the first flexible frame, the first communication unit can map the detection signal to the first flexible frame, and based on the time division duplex mechanism, it does not affect the sending of normal communication signals while sending the detection signal.

[0182] On the other hand, when the second communication unit receives the communication signal according to the second frame structure with the same structure, since a second flexible frame is also set in the same time slot in the second frame structure, the second communication unit can obtain the echo signal from the second flexible frame. Also based on the time division duplex mechanism, the reception of the normal communication signal is not affected while receiving the echo signal.

[0183] Therefore, after acquiring the echo signal, the relative position between the target object and the communication device can be determined based on the echo signal, thereby realizing the simultaneous performance of both communication and position perception functions in the same communication device without deploying additional hardware.

[0184] Each first perception symbol is configured as a downlink symbol and is set at a corresponding position in the first flexible frame.

[0185] Accordingly, the first communication unit 701 is further specifically configured as follows: Detecting whether the current symbol is a downlink symbol, and determining whether the current symbol is located at a position corresponding to any first perception symbol in the first flexible frame; When the current symbol is a downlink symbol and is located at a position corresponding to any first perception symbol in the first flexible frame, it is determined that the current symbol is the first perception symbol.

[0186] Each second perception symbol is configured as an uplink symbol and is set at a corresponding position in the second flexible frame.

[0187] Accordingly, the second communication unit 702 is further specifically configured as follows: detecting whether the current symbol is an uplink symbol, and determining whether the current symbol is located at a position corresponding to any first perception symbol in the second flexible frame; When the current symbol is an uplink symbol and is located at a position corresponding to any first perception symbol in the second flexible frame, the current symbol is determined to be a second perception symbol.

[0188] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, an embodiment of the present application further provides a position sensing device.

[0189] Figure 8 This is a structural block diagram of a location awareness device provided in an embodiment of the present application. The device is configured to execute the communication awareness integration implementation method provided in the above embodiment, and has corresponding functional modules and beneficial effects of the execution method.

[0190] like Figure 8 As shown, the apparatus includes: a cost function determination module 801, a time delay determination module 802 and a relative position determination module 803; The cost function determination module 801 is configured to determine the cost function between the echo signal and the detection signal under different time delay conditions; The delay determination module 802 is configured to determine a target delay when the cost function is maximized; The relative position determination module 803 is configured to determine the relative position between the communication device and the target object according to the target delay.

[0191] It can be seen that based on the acquired echo signal, since the echo signal is formed after the detection signal is reflected by the target object, the cost function between the echo signal and the detection signal can be determined under different time delays, so that when the cost function is maximum, the correlation between the echo signal and the detection signal is the highest, and the corresponding time delay can be determined, that is, the target time delay is obtained. Since the detection signal causes the target time delay during the transmission and reflection process, the relative position between the communication device and the target object can be determined based on the target time delay.

[0192] The cost function determination module 801 is further specifically configured as follows: determining, under different time delays, a mutual correlation coefficient between the detection signal of each first sensing symbol and the echo signal of the corresponding second sensing symbol; Determining the autocorrelation coefficient of the echo signal of each second perception symbol under different time delays using the cross-correlation coefficient; The cost function between the echo signal and the detection signal is determined by using the autocorrelation coefficient under different time delays.

[0193] The number of the first perception symbols is the same as the number of the second perception symbols, and each first perception symbol in the first flexible frame corresponds to a second perception symbol at the same position in the second flexible frame.

[0194] The relative position determination module 803 is further specifically configured as follows: determining a target communication resource corresponding to the target delay of the second flexible frame from a plurality of communication resources; The distance between the communication device and the target object is determined by using the target communication resource and a sampling interval between two acquisitions of the second flexible frame.

[0195] Determine the target phase when the cost function is maximized; The target phase is determined as the direction of the target object relative to the communication device.

[0196] The relative position includes the distance between the target object and the communication device; each second perception symbol is configured with multiple communication resources, and the time domain occupied by each communication resource is a single delay.

[0197] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0198] The device of the above embodiment is used to implement the corresponding communication perception integration implementation method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0199] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, an embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, it implements the communication perception integration implementation method and / or location perception method as described in any of the above embodiments.

[0200] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Figure 9 As shown, the device includes a processor 201, a memory 202, an input device 203 and an output device 204; the number of processors 201 in the device can be one or more. Figure 9 In the embodiment, a processor 201 is used as an example; the processor 201, the memory 202, the input device 203 and the output device 204 in the device can be connected by a bus or other means. Figure 9 The example of connection via a bus is taken. The memory 202, as a computer-readable storage medium, can be configured to store software programs, computer executable programs and modules, such as program instructions / modules for implementing the communication perception integration implementation method and / or the location perception method in the embodiment of the present application. The processor 201 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 202, that is, implements the above-mentioned communication perception integration implementation method and / or location perception method. The input device 203 can be configured to receive input digital or character information, and generate key signal input related to the user settings and function control of the device. The output device 204 may include a display device such as a display screen.

[0201] The device of the above embodiment is used to implement the corresponding communication perception integration implementation method and / or location perception method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0202] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, an embodiment of the present application further provides a non-volatile storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are configured to perform a communication and perception integration implementation method and / or a position perception method described in the above-mentioned embodiment, which includes: generating a detection signal using a first communication unit, mapping the detection signal to multiple first perception symbols of a first flexible frame, and sending the detection signal according to a preset first frame structure, where the first flexible frame is a frame in the first frame structure; The second communication unit receives an echo signal at each second sensing symbol of the second flexible frame according to a preset second frame structure, and sends the echo signal to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratios of the first flexible frame and the second flexible frame are different. The echo signal is a signal obtained by reflecting the detection signal from the target object. The sensing processing unit is used to determine the relative position of the communication device and the target object based on the echo signal.

[0203] Determine the cost function between the echo signal and the detection signal under different time delay conditions; Determine the target delay when the cost function is maximized; The relative position of the communication device and the target object is determined according to the target delay.

[0204] It is worth noting that in the embodiments of the above-mentioned communication device and location sensing device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not configured to limit the scope of protection of the embodiments of this application.

[0205] In some possible implementations, various aspects of the methods provided herein may also be implemented in the form of a program product, which includes program code. When the program product is executed on a computer device, the program code is configured to cause the computer device to execute the steps of the methods according to the various exemplary embodiments of the present application described above in this specification. For example, the computer device may execute the communication perception integration implementation method and / or location perception method described in the embodiments of the present application. The program product may be implemented using any combination of one or more readable media, and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here.

Claims

1. A method for realizing integrated communication and perception, characterized in that: Applied to a communication device, the communication device comprising a first communication unit, a second communication unit and a perception processing unit; The method comprises: generating a sounding signal using the first communication unit, mapping the sounding signal to a plurality of first sensing symbols of a first flexible frame, and sending the sounding signal according to a preset first frame structure, where the first flexible frame is a frame in the first frame structure; receiving, by the second communication unit, an echo signal at each second sensing symbol of a second flexible frame according to a preset second frame structure, and sending the echo signal to the sensing processing unit, wherein the second frame structure is identical to the first frame structure, but the first flexible frame and the second flexible frame have different symbol ratios, and the echo signal is a signal obtained by reflecting the detection signal from a target object; The sensing processing unit is utilized to determine the relative position of the communication device and the target object according to the echo signal.

2. The communication and perception integration implementation method according to claim 1, characterized in that: Each first perception symbol is configured as a downlink symbol and is set at a corresponding position in the first flexible frame; Before mapping the sounding signal to a plurality of first perception symbols of the first flexible frame, the method further includes: detecting whether a current symbol is a downlink symbol, and determining whether the current symbol is located at a position corresponding to any first perception symbol in the first flexible frame; When the current symbol is a downlink symbol and is located at a position corresponding to any first perception symbol in the first flexible frame, the current symbol is determined to be the first perception symbol.

3. The communication and perception integration implementation method according to claim 1, characterized in that: Each second perception symbol is configured as an uplink symbol and is set at a corresponding position in the second flexible frame; Before receiving the echo signal at each second perception symbol of the second flexible frame, the method further includes: detecting whether a current symbol is an uplink symbol, and determining whether the current symbol is located at a position corresponding to any first perception symbol in the second flexible frame; When the current symbol is an uplink symbol and is located at a position corresponding to any first perception symbol in the second flexible frame, the current symbol is determined to be a second perception symbol.

4. A location awareness method, characterized in that: Applicable to a perception processing unit according to any one of claims 1 to 3; The method comprises: Determine the cost function between the echo signal and the detection signal under different time delay conditions; Determining a target delay when the cost function is maximized; The relative position of the communication device and the target object is determined according to the target time delay.

5. The location sensing method according to claim 4, characterized in that: The number of the first perception symbols according to any one of claims 1 to 3 is the same as the number of the second perception symbols according to claim 1 or 3, and each first perception symbol in the first flexible frame according to claim 1 or 2 corresponds to the second perception symbol at the same position in the second flexible frame according to claim 1 or 3; The determining of the cost function between the echo signal and the detection signal under different time delay conditions includes: determining, under different time delays, a mutual correlation coefficient between the detection signal of each first sensing symbol and the echo signal of the corresponding second sensing symbol; Determining the autocorrelation coefficient of the echo signal of each second perception symbol under different time delays using the cross-correlation coefficient; The autocorrelation coefficient is used to determine a cost function between the echo signal and the detection signal under different time delays.

6. The location sensing method according to claim 4, characterized in that: The relative position includes the distance of the target object relative to the communication device; each second perception symbol is configured with multiple communication resources, and the time domain occupied by each communication resource is a single delay; The determining the relative position of the communication device and the target object according to the target time delay includes: Determining a target communication resource corresponding to the target delay of the second flexible frame from a plurality of communication resources; The distance between the communication device and the target object is determined by using the target communication resource and a sampling interval between two acquisitions of the second flexible frame.

7. The location sensing method according to claim 4, characterized in that: The relative position also includes the direction of the target object relative to the communication device; The determining the relative position of the communication device and the target object according to the target time delay further includes: determining a target phase when the cost function is maximized; The target phase is determined as the direction of the target object relative to the communication device.

8. A communication device, characterized in that: include: a first communication unit, a second communication unit, and a perception processing unit; The first communication unit is configured to generate a sounding signal, map the sounding signal to a plurality of first sensing symbols of a first flexible frame, and send the sounding signal according to a preset first frame structure, where the first flexible frame is a frame in the first frame structure; The second communication unit is configured to receive an echo signal at each second sensing symbol of a second flexible frame according to a preset second frame structure, and send the echo signal to the sensing processing unit, wherein the second frame structure is the same as the first frame structure, the symbol ratios of the first flexible frame and the second flexible frame are different, and the echo signal is a signal obtained by reflecting the detection signal from the target object; The perception processing unit is configured to determine the relative position of the communication device and the target object based on the echo signal.

9. A position sensing device, characterized in that: include: A cost function determination module, a time delay determination module, and a relative position determination module; a cost function determination module configured to determine a cost function between the echo signal and the detection signal under different time delay conditions; a delay determination module configured to determine a target delay when the cost function is maximized; The relative position determination module is configured to determine the relative position of the communication device and the target object according to the target time delay.

10. An electronic device, characterized in that: The device includes: one or more processors; a storage device configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the communication perception integration implementation method described in any one of claims 1-3 or the location perception method described in any one of claims 4-7.

11. A non-volatile storage medium storing computer executable instructions, characterized in that: When executed by a computer processor, the computer executable instructions are configured to execute the communication awareness integration implementation method according to any one of claims 1 to 3 or the location awareness method according to any one of claims 4 to 7.

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