Speed sensing method and device, electronic equipment, storage medium and computer program product

Abstract

The invention discloses a speed sensing method and device, electronic equipment, a storage medium and a computer program product.The method comprises the steps that a sensing node judges whether the first speed of a terminal is within a set interval or not, and a judgment result is obtained; the first speed represents the speed of the terminal sensed based on a first mode; the set interval represents a fuzzy speed interval corresponding to the first mode; under the condition that the judgment result represents that the first speed is in the set interval, fusing the first speed and a second speed based on a first parameter to obtain a third speed; wherein the first parameter is used for distributing weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal sensed based on a second mode; the sensing period of the first mode is greater than that of the second mode; the third speed represents a speed sensing result of the terminal.

Description

Technical Field

[0001] The present application relates to the field of wireless technology, and in particular to a speed perception method, device, electronic device, storage medium and computer program product. Background Art

[0002] In the related art, the sensing node sends a sensing signal to the sensing target and estimates the target's speed based on the phase change of the echo signal of the sensing signal. However, when the phase change value is an integer multiple of 2π, it cannot be accurately estimated, which reduces the accuracy of speed perception. Summary of the invention

[0003] To solve related technical problems, embodiments of the present application provide a speed perception method, device, electronic device, storage medium and computer program product.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application provides a speed perception method, which is applied to a perception node. The method includes:

[0006] Determine whether a first speed of the terminal is within a set interval, and obtain a determination result; the first speed represents the speed of the terminal perceived based on the first mode; the set interval represents a fuzzy speed interval corresponding to the first mode;

[0007] When the judgment result indicates that the first speed is within the set range, the first speed and the second speed are fused based on the first parameter to obtain a third speed; wherein,

[0008] The first parameter is used to allocate weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal perceived based on the second mode; the perception period of the first mode is greater than the perception period of the second mode; the third speed represents the speed perception result of the terminal.

[0009] In the above scheme, the first parameter is positively correlated with the first weight, and the first parameter is negatively correlated with the second weight; the first weight represents the weight of the first speed in the third speed, and the second weight represents the weight of the second speed in the third speed.

[0010] In the above scheme, the method further comprises:

[0011] The first parameter is adjusted based on a second parameter; the second parameter represents a change in the first speed and a change in the second speed.

[0012] In the above solution, adjusting the first parameter based on the second parameter includes:

[0013] When the second parameter is higher than the first set threshold, lowering the first parameter;

[0014] When the second parameter is lower than the second set threshold, the first parameter is increased; wherein,

[0015] The first set threshold is greater than or equal to the second set threshold.

[0016] In the above scheme, the method further comprises:

[0017] Adjust a first parameter based on first information reported by the terminal; the first information includes: the speed of the terminal and the time corresponding to the speed of the terminal; the speed of the terminal includes the real-time speed of the terminal and / or the average speed of the terminal in a time period.

[0018] In the above solution, adjusting the first parameter based on the first information reported by the terminal includes:

[0019] Based on the first information, the first parameter is adjusted until a difference between the third speed and the speed reported by the terminal is less than a set threshold.

[0020] In the above scheme, the method further comprises:

[0021] Every sensing period of the sensing mode, a sensing signal is sent to the terminal, and a first speed and / or a second speed of the terminal is estimated based on an echo signal of the sensing signal; the sensing mode includes a first mode and / or a second mode.

[0022] In the above solution, estimating the first speed and / or the second speed of the terminal based on the echo signal of the sensing signal includes:

[0023] Perform convolution correlation processing on the received multiple echo signals respectively to obtain the propagation delay corresponding to each echo signal;

[0024] Based on the propagation delays respectively corresponding to the multiple echo signals, clustering the multiple echo signals to screen out multiple echo signals matching the terminal;

[0025] Based on the multiple echo signals matched with the terminal, a first speed and / or a second speed of the terminal is estimated.

[0026] The embodiment of the present application further provides a speed perception device, which is applied to a perception node, including:

[0027] A judgment unit, configured to judge whether a first speed of the terminal is within a set interval, and obtain a judgment result; the first speed represents the speed of the terminal perceived based on the first mode; the set interval represents a fuzzy speed interval corresponding to the first mode;

[0028] A fusion unit is used to fuse the first speed and the second speed based on a first parameter to obtain a third speed when the judgment result indicates that the first speed is within the set range; wherein,

[0029] The first parameter is used to allocate weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal perceived based on the second mode; the perception period of the first mode is greater than the perception period of the second mode; the third speed represents the speed perception result of the terminal.

[0030] The embodiment of the present application also provides an electronic device, comprising: a first processor and a first communication interface; wherein,

[0031] The first processor is used to determine whether a first speed of the terminal is within a set interval, and obtain a determination result; the first speed represents a speed of the terminal perceived based on a first mode; the set interval represents a fuzzy speed interval corresponding to the first mode;

[0032] When the judgment result indicates that the first speed is within the set range, the first speed and the second speed are fused based on the first parameter to obtain a third speed; wherein,

[0033] The first parameter is used to allocate weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal perceived based on the second mode; the perception period of the first mode is greater than the perception period of the second mode; the third speed represents the speed perception result of the terminal.

[0034] An embodiment of the present application further provides an electronic device, comprising: a first processor and a first memory for storing a computer program that can be run on the processor,

[0035] Wherein, the first processor is used to execute the steps of any of the above methods when running the computer program.

[0036] An embodiment of the present application further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0037] An embodiment of the present application also provides a computer program product, including a computer program, which implements the steps of any of the above methods when executed by a processor.

[0038] In an embodiment of the present application, the perception node performs speed perception of the terminal based on the first mode with a larger perception period and the second mode with a smaller perception period. When the first speed of the terminal perceived based on the first mode is in the fuzzy speed interval corresponding to the first mode, the perception node fuses the first speed and the second speed based on the first parameter, determines the third speed of the terminal, and uses the third speed as the speed perception result of the terminal. In the above scheme, the second speed is the terminal speed perceived by the perception node based on the second mode, and the first parameter is used to assign weights of the first speed and the second speed in the third speed. In this way, the perception node realizes the correction of the first speed in the fuzzy speed interval by fusing the first speed and the second speed. Compared with the related art, when the estimated first speed is in the fuzzy speed interval, a speed perception result close to the actual speed of the terminal can still be obtained, thereby improving the accuracy of speed perception. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of a frame structure of a communication-aware network;

[0040] Figure 2 A schematic diagram of a speed sensing method according to an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of a speed perception method for implementing an embodiment of the present application;

[0042] Figure 4 A schematic diagram of the structure of a speed sensing device provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The communication perception network uses the transmission, reflection and scattering of radio waves to perceive the physical world. In related technologies, the perception nodes in the communication perception network send perception signals to the perception targets and estimate the speed of the perception targets based on the phase changes of the echo signals of the perception signals.

[0045] For example, Figure 1As shown, the frame structure of the communication perception network is designed with reference to the frame structure defined in the fifth generation mobile communication technology (5G, 5th Generation Mobile Communication Technology) new air interface (NR, New Radio) standard, where "D" represents the downlink time slot, "U" represents the uplink time slot, and "S" represents the special time slot. Each time slot lasts for 0.5 milliseconds (ms), and each time slot includes 14 symbols. The perception resources used to send the perception signal are configured in the 0th and 5th time slots of each frame. When performing speed perception, the perception node sends a perception signal every 2.5ms, that is, the transmission period of the perception signal is 2.5ms. Then, the perception node receives the echo signal of the perception signal and estimates the speed of the perception target based on the phase change of the echo signal.

[0046] When the phase change value of the echo signal of the sensing signal is an integer multiple of 2π, the speed of the sensing target estimated by the sensing node is n*(λ / 4T chirp ), where n is an integer representing the multiple of the phase change value and 2π, λ represents the wavelength of the perceived signal, and T chirp Characterizes the sending period of the perception signal.

[0047] However, due to the influence of phase ambiguity, when the phase change value of the echo signal of the perception signal is an integer multiple of 2π, the speed of the perception target estimated by the perception node cannot accurately reflect the real speed of the perception target, that is, the perception produces speed ambiguity. The speed of the perception target estimated by the perception node when the phase change value of the echo signal of the perception signal is an integer multiple of 2π can also be understood as a fuzzy speed.

[0048] Based on this, in an embodiment of the present application, the perception node performs speed perception of the terminal based on the first mode with a larger perception period and the second mode with a smaller perception period. In the case where the first speed of the terminal perceived based on the first mode is in the fuzzy speed interval corresponding to the first mode, the perception node fuses the first speed and the second speed based on the first parameter, determines the third speed of the terminal, and uses the third speed as the speed perception result of the terminal. In the above scheme, the second speed is the terminal speed perceived by the perception node based on the second mode, and the first parameter is used to assign weights of the first speed and the second speed in the third speed. In this way, the perception node realizes the correction of the first speed in the fuzzy speed interval by fusing the first speed and the second speed. Compared with the related art, when the estimated first speed is in the fuzzy speed interval, a speed perception result close to the actual speed of the terminal can still be obtained, thereby improving the accuracy of speed perception.

[0049] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0050] An embodiment of the present application provides a speed perception method, which is applied to a perception node, and the perception node may be a base station.

[0051] In practical applications, the sensing node can sense the speed of the terminal based on a set sensing mode, and the set sensing mode can be a single sensing mode or a combination of sensing modes.

[0052] When the sensing node performs speed sensing based on a single sensing mode, it sends a sensing signal to the terminal every sensing period of the sensing mode, and estimates the speed of the terminal based on an echo signal of the sensing signal.

[0053] When the sensing node performs speed sensing based on a combination of sensing modes, the sensing node sends a sensing signal to the terminal according to the sensing period of each sensing mode in the combination, and estimates the speed of the terminal based on the echo signal of the sensing signal. For example, for a combination of sensing mode 1 and sensing mode 2, the sensing node sends a sensing signal corresponding to sensing mode 1 every sensing period of sensing mode 1, and sends a sensing signal corresponding to sensing mode 2 every sensing period of sensing mode 2.

[0054] The terminal, i.e., the sensing target of the sensing node, may be an object such as an aircraft. The sensing period is the sending period of the sensing signal. In practical applications, the sensing signal may be a swept cosine signal (chirp).

[0055] In practical applications, after receiving the sensing signal, the terminal can perform a two-dimensional fast Fourier transform (2D-FFT) on the echo signal to obtain a range-Doppler spectrum (RD), and then identify the peak in the RD spectrum, and use the speed corresponding to the peak as the estimated terminal speed.

[0056] In the embodiment of the present application, the sensing modes of the sensing nodes include:

[0057] The first mode: the perception cycle is relatively large, therefore, the first mode can also be expressed as a large cycle mode, and the perception cycle of the first mode can also be expressed as a large cycle.

[0058] In the second mode, the sensing period is smaller, which is smaller than the sensing period of the first mode. Therefore, the second mode can also be described as a small period mode, and the sensing period of the second mode can also be described as a small period.

[0059] For example, refer to Figure 1As shown, when the sensing node senses the terminal speed based on the first mode, the sensing resources are configured in the 0th and 5th time slots of each frame, and the sensing period of the first mode is 2.5ms. When the sensing node senses the terminal speed based on the second mode, the sensing resources are configured in the first 4 symbols of the 0th time slot and the first 4 symbols of the 5th time slot, and the sensing period of the second mode is 3.3 microseconds (us).

[0060] Reference Figure 2 , the speed perception method provided in the embodiment of the present application includes:

[0061] Step 201: Determine whether the first speed of the terminal is within a set interval and obtain a determination result.

[0062] The first speed represents the speed of the terminal perceived based on the first mode, which can be expressed as a large-cycle speed; the set interval represents the fuzzy speed interval corresponding to the first mode.

[0063] According to the above records, the calculation formula of blur speed is: v = n*(λ / 4T chirp ), where v represents the blur speed, n is an integer, λ represents the wavelength of the perception signal, and T chirp Characterizes the sending period of the sensing signal. If the speed estimated by the sensing node is a fuzzy speed, the estimated speed is inaccurate.

[0064] In practical applications, considering the signal interference in the actual perception process, if the difference between the speed estimated by the perception node and the fuzzy speed is less than the set floating threshold, it can also be regarded that the estimated speed is inaccurate. In this case, it can be regarded that the estimated speed is in the fuzzy speed range. The fuzzy speed range can be represented as: [n*(λ / 4T chirp )-θ,n*(λ / 4T chirp )+θ], where n*(λ / 4T chirp ) represents the blur speed, and θ represents the setting floating threshold. θ is related to the wavelength of the perception signal and can be determined based on the empirical relationship between θ and the wavelength of the perception signal.

[0065] The fuzzy speed interval is related to the sending period of the sensing signal, that is, related to the sensing period of the sensing mode adopted by the sensing node. Therefore, the first mode and the second mode correspond to different fuzzy speed intervals.

[0066] Exemplarily, if the wavelength of the perception signal is 0.06 millimeters (mm), the floating threshold is set to 3 kilometers / hour (km / h), the perception period of the first mode is 2.5 ms, and the perception period of the second mode is 3.3 us, then the fuzzy speed interval corresponding to the first mode is [(n*22-3) km / h, (n*22+3) km / h], and the fuzzy speed interval corresponding to the second mode is [(n*1600-3) km / h, (n*1600+3) km / h]. It can be seen that the fuzzy speed interval of the first mode is lower than the fuzzy speed interval of the second mode as a whole. Therefore, compared with the speed of the terminal perceived in the second mode, the speed of the terminal perceived by the perception node in the first mode is more likely to be in the fuzzy speed interval.

[0067] In practical applications, the unambiguous requirement is used to characterize the lower limit expectation of the fuzzy speed in the speed perception process. For example, when the unambiguous requirement is 100km / h, the minimum fuzzy speed of the first mode in the above example is 22km / h, which is lower than 100km / h. Therefore, the speed perception of the first mode cannot meet the unambiguous requirement; while the minimum fuzzy speed of the second mode in the above example is 1600km / h, which is higher than 100km / h. Therefore, the speed perception of the second mode can meet the unambiguous requirement.

[0068] Step 202: When the judgment result indicates that the first speed is within the set range, the first speed and the second speed are fused based on the first parameter to obtain a third speed.

[0069] Among them, the first parameter is used to allocate the weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal perceived based on the second mode, which can be expressed as a small cycle speed; the perception cycle of the first mode is greater than the perception cycle of the second mode; the third speed represents the speed perception result of the terminal.

[0070] In actual applications, when the judgment result indicates that the first speed is not within the set range, the first speed can be directly used as the third speed, that is, the first speed is used as the speed perception result of the terminal.

[0071] In the related art, the sensing node only senses the speed of the terminal based on the large cycle mode, for example, Figure 1As shown in the figure, the sensing resources are configured in the 0th and 5th time slots of each frame, and the sensing period is 2.5ms. However, it is understandable that the speed sensing of the large period mode is not easy to meet the ambiguity-free requirements, and the sensing accuracy is low. In addition, the sensing resource configuration of two time slots per frame has occupied 2 / 10, that is, 20% of the resource overhead, and 2 / 5, that is, 40% of the downlink resource overhead. If the sensing coverage density is improved, for example, the sensing resources are configured in the 0th and 5th time slots of each frame, as well as the 2nd and 6th time slots, the resource overhead will be further increased, and the performance of the communication sensing network will be reduced.

[0072] If the perception mode is changed and the terminal speed is perceived only based on the small cycle mode, for example, the perception resources are configured in the first 4 symbols of the 0th time slot and the first 4 symbols of the 5th time slot, the perception period of the second mode is 3.3us. Although it can meet the ambiguity requirement and has good perception accuracy, it is understandable that the time difference between the 4th symbol of the 0th time slot and the 0th symbol of the 5th time slot is not 33us. Therefore, the distribution of the perception period is not uniform, that is, the small cycle mode cannot meet the periodicity, which will cause the perceived terminal speed to have more glitches and lower confidence.

[0073] In an embodiment of the present application, when the perception node perceives the speed of the terminal, if the first speed perceived based on the large cycle pattern is in a fuzzy speed range, the first speed is fused with the second speed perceived based on the small cycle pattern to determine a third speed representing the speed perception result of the terminal, thereby correcting the first speed and minimizing the impact of glitches caused by the small cycle pattern. Compared with related technologies, the third speed that fuses the first speed and the second speed balances the periodicity and perception accuracy, and can be close to the actual speed of the terminal. Therefore, the technical solution of the embodiment of the present application improves the accuracy of speed perception.

[0074] In the embodiment of the present application, the sensing node fuses the first speed and the second speed based on the first parameter, and the first parameter affects the weight distribution of the first speed and the second speed in the third speed. In practical applications, the first parameter can also be expressed as a fusion speed factor. The first parameter is described in detail below.

[0075] In one embodiment, the first parameter is positively correlated with the first weight, and the first parameter is negatively correlated with the second weight; the first weight represents the weight of the first speed in the third speed, and the second weight represents the weight of the second speed in the third speed.

[0076] For example, the fusion speed of the first speed and the second speed can be expressed as:

[0077] v 融合 =α*v 大周期 +(1-α)**v 小周期,

[0078] Among them, v 融合 Characterizes the fusion speed of the first speed and the second speed, that is, the third speed, v 大周期 Characterizes the first velocity, v 小周期 represents the second speed, α represents the first parameter, 0<α<1.

[0079] In practical applications, an initial value can be set for the first parameter, and during the speed perception process, the first parameter can be adjusted according to the actual speed perception situation, so that the first speed and the second speed can achieve optimal fusion. Optimal fusion, that is, the fusion speed determined based on the first speed and the second speed balances the perception accuracy and periodicity, and is as close to the actual speed of the terminal as possible. The actual speed perception situation includes but is not limited to the change of speed during the perception process and / or the reporting information of the terminal.

[0080] It can be understood that, since the perception period of the first mode is greater than the perception period of the second mode, when the terminal is perceived based on the combination of the first mode and the second mode within the same time, the number of perception signals sent in the first mode is less than the number of perception signals sent in the second mode. Therefore, the number of echo signals corresponding to the first mode is less than the number of echo signals corresponding to the second mode. That is, within the same time, the number of second speeds perceived by the perception node may be greater than the number of first speeds. Speed ​​perception of the terminal based on the second mode can achieve closer tracking of the terminal. In the above case, based on the solution of the embodiment of the present application, the number of third speeds obtained by the perception node is the same as the number of second speeds.

[0081] Exemplarily, if the sensing node senses the speed of the terminal in the same time period and obtains a first speed v1 and two second speeds v2 and v3, then two third speeds v4 and v5 can be obtained, where v4 = α*v1+(1-α)*v2, v5 = α*v1+(1-α)*v3.

[0082] The adjustment method of the first parameter is described in detail below.

[0083] In one embodiment, the method further comprises:

[0084] The first parameter is adjusted based on the second parameter; the second parameter represents the change of the first speed and the change of the second speed.

[0085] In practical applications, the second parameter may be a combination of a change in the first speed and a change in the second speed, and the combination may be a sum of the change in the first speed and the change in the second speed. The change in speed may be the difference between two perceived speeds, or the average of the differences between multiple perceived speeds, or the rate of change of multiple perceived speeds.

[0086] For example, if the sensing node senses the speed of the terminal and senses two first speeds v1 and v2, where v1=220km / h and v2=226km / h, the sensing node also senses two second speeds v3 and v4, where v3=220km / h and v4=222km / h, and the change in speed represents the difference between the two speeds, then the change in the first speed is v2-v1, i.e. 6km / h, and the change in the second speed is v4-v3, i.e. 2km / h. The calculated first parameter may be (v2-v1)+(v4-v3), i.e. 8km / h.

[0087] It is understandable that when the sensing node senses the speed based on the first mode, if the actual speed of the terminal changes too quickly, the accuracy of the first speed sensed based on the first mode is difficult to guarantee, and the weight of the first speed in the third speed should be reduced. If the actual speed of the terminal changes slowly, that is, the actual speed of the terminal changes smoothly, the burrs of the speed perception result should be reduced as much as possible, and therefore, the weight of the second speed in the third speed should be reduced.

[0088] Based on this, in one embodiment, adjusting the first parameter based on the second parameter includes:

[0089] When the second parameter is higher than the first set threshold, lowering the first parameter;

[0090] When the second parameter is lower than the second set threshold, the first parameter is increased.

[0091] The first set threshold is greater than or equal to the second set threshold.

[0092] In practical applications, the third speed is expressed as v recorded in the above example. 融合 =α*v 大周期 +(1-α)*v 小周期 In the case of 0<α<1, if α representing the first parameter tends to 0, then the second speed has a higher weight in the third speed, so that the perception accuracy is higher. If α tends to 1, then the first speed has a higher weight in the third speed, and the speed perception satisfies periodicity, so that the third speed has fewer glitches.

[0093] In practical applications, the first parameter may also be adjusted based on the reporting information of the terminal. Specifically,

[0094] In one embodiment, the first parameter is adjusted based on the first information reported by the terminal; the first information includes: the speed of the terminal and the time corresponding to the speed of the terminal; the speed of the terminal includes the real-time speed of the terminal and / or the average speed of the terminal in a time period.

[0095] In actual applications, the sensing node can send a measurement and control message to the terminal. The measurement and control message includes a starting time point. After receiving the measurement and control message, the terminal reports its own speed and the time corresponding to the speed from the starting time point.

[0096] Exemplarily, the terminal can report its real-time speed and the time corresponding to the real-time speed every 1 second (s) or 1 minute (min), and the terminal can also report its average speed in the previous 10 seconds and the time period corresponding to the average speed every 10 seconds; the terminal can also report its real-time speed every 1 minute and its average speed every 10 seconds, as well as the time corresponding to each speed.

[0097] In one embodiment, adjusting the first parameter based on the first information reported by the terminal includes:

[0098] Based on the first information, the first parameter is adjusted until the difference between the third speed and the speed reported by the terminal is less than a set threshold.

[0099] In actual applications, after receiving the first information reported by the terminal, the perception node can compare the speed reported by the terminal with the third speed estimated by the perception node. For example, when the rate of change of the speed reported by the terminal is greater than the set change threshold, the real-time speed reported by the terminal is compared with the third speed estimated by the perception node; when the rate of change of the speed reported by the terminal is less than or equal to the set change threshold, the average speed reported by the terminal is compared with the third speed estimated by the perception node.

[0100] Then, when the difference between the third speed and the speed reported by the terminal is greater than or equal to the set threshold, the perception node understands this situation as the first parameter is not yet the optimal parameter, that is, the third speed fused based on the first parameter is not accurate enough. In this case, the perception node can adjust the first parameter according to the set strategy until the difference between the third speed fused based on the first parameter and the speed reported by the terminal is less than the set threshold.

[0101] Here, the terminal reports the first information to the perception node, which can be regarded as communication between the terminal and the perception node. The third speed of the terminal estimated by the perception node based on the first parameter can be regarded as the perception of the terminal by the perception node. In this way, the speed perception method provided in the embodiment of the present application realizes synaesthesia and adjusts the first parameter based on synaesthesia.

[0102] It is understandable that when the communication quality is good, the perception node can receive the speed reported by the terminal, but when the communication quality is poor, for example, when there are obstructions, the perception node cannot receive the speed reported by the terminal. In the case of poor communication quality, the perception node's determination of the terminal speed can only rely on the speed perception result estimated by the perception node. In an embodiment of the present application, the perception node adjusts the first parameter based on the first information reported by the terminal. It can also be understood that the perception node adjusts the first parameter according to the speed reported by the terminal when the communication quality is good. Then, in the case of poor communication quality, the third speed fused based on the first parameter can be close to the actual speed of the terminal, thereby improving the accuracy of speed perception.

[0103] In actual applications, the sensing node may also adjust the first parameter based on the first speed that is not within the set range, and the adjustment method may refer to the method in which the sensing node adjusts the first parameter based on the first information.

[0104] In combination with the first speed and the second speed described in the above embodiment, the speed perception method provided in the embodiment of the present application is further described.

[0105] In one embodiment, the method further comprises:

[0106] Every sensing period of the sensing mode, a sensing signal is sent to the terminal, and a first speed and / or a second speed of the terminal is estimated based on an echo signal of the sensing signal; the sensing mode includes a first mode and / or a second mode.

[0107] Wherein, in the case of sensing the speed of the terminal based on the first mode, the sensing node sends a first sensing signal to the terminal every sensing period of the first mode, and estimates the first speed of the terminal based on the first echo signal of the first sensing signal. In the case of sensing the speed of the terminal based on the second mode, the sensing node sends a second sensing signal to the terminal every sensing period of the second mode, and estimates the second speed of the terminal based on the second echo signal of the second sensing signal.

[0108] In actual applications, the perception node may send both the first perception signal and the second perception signal during the process of perceiving the terminal, and then receive the echo signal, and determine whether the received echo signal is the first echo signal or the second echo signal according to the time interval between the echo signals.

[0109] In practical applications, multiple sensing signals sent by a sensing node may be reflected by different terminals, that is, the echo signals received by the sensing node may be reflected from different terminals. Since the sensing signal does not carry a terminal tag, the sensing node cannot distinguish whether the received echo signals are reflected from the same terminal.

[0110] When the sensing node senses the speed of a terminal to be sensed, the sensing node sends a sensing signal in the direction of the terminal. Therefore, most of the sensing signals are reflected from the terminal, and a small number of sensing signals are reflected from other terminals other than the terminal. The sensing node can filter the echo signal matching the terminal according to the propagation delay corresponding to the echo signal, and then estimate the speed of the terminal based on the echo signal matching the terminal; the terminal to be sensed can be regarded as a sensing target. Specifically,

[0111] In one embodiment, estimating the first speed and / or the second speed of the terminal based on the echo signal of the sensing signal includes:

[0112] Perform convolution correlation processing on the received multiple echo signals respectively to obtain the propagation delay corresponding to each echo signal;

[0113] Based on the propagation delays corresponding to the multiple echo signals, the multiple echo signals are clustered to screen out multiple echo signals matching the terminal;

[0114] Based on a plurality of echo signals matched with the terminal, a first speed and / or a second speed of the terminal is estimated.

[0115] Here, the propagation delay of the echo signal can be understood as the time difference between the time point when the sensing node receives the echo signal and the time point when the sensing signal corresponding to the echo signal is sent. The propagation delay of the echo signal is positively correlated to the distance between the terminal reflecting the echo signal and the sensing node.

[0116] In practical applications, clustering can be performed on the propagation delays corresponding to the multiple received echo signals based on a clustering algorithm, such as the K-Nearest Neighbor (KNN) algorithm, and outliers can be identified based on the clustering results, and other echo signals other than the echo signals corresponding to the outliers can be determined as echo signals matching the terminal. The outlier point can be a point whose distance from the cluster center point where the point is located exceeds a set distance threshold.

[0117] Exemplarily, if the perception node receives four echo signals of the perception signal sent based on the large cycle pattern, that is, echo 1, echo 2, echo 3 and echo 4, the perception node obtains the propagation delays corresponding to the four echo signals based on convolution correlation processing, which are 1s, 1.2s, 1.5s, and 6s respectively, and then clusters the propagation delays corresponding to the four echo signals to identify the abnormal point as 6s. It can be understood that echo 4 corresponding to the abnormal point 6s can be regarded as an echo signal reflected by other terminals outside the perception target. Therefore, the perception node determines echo 1, echo 2 and echo 3 as echo signals matching the perception target, and echo 1, echo 2 and echo 3 can be used to estimate the first speed of the perception target.

[0118] In this way, the embodiment of the present application can distinguish the echoes reflected by different terminals, thereby improving the accuracy of speed perception.

[0119] In practical applications, the distance between the perceived target and the perception node, as well as the distance between other terminals and the perception node may be relatively close. In this case, the perceived first speed and / or second speed may also be screened to determine the first speed and / or second speed that matches the perceived target. Specifically, the perception node may cluster multiple first speeds to screen out the first speed that matches the perceived target; and / or, cluster multiple second speeds to screen out the second speed that matches the perceived target. Then, the perception node processes the first speed and the second speed that match the perceived target to obtain the speed perception result of the perceived target.

[0120] Exemplarily, if the perception node estimates four second speeds v1, v2, v3 and v4 based on the received echo signal, where v1=100km / h, v2=102km / h, v3=110km / h, and v4=300km / h, the perception node clusters the four second speeds and identifies the outlier as v4. Then, it can be understood that the outlier v4 can be regarded as the speed of other terminals outside the perception target. Therefore, the perception node determines v1, v2 and v3 as the second speeds that match the perception target, and v1, v2 and v3 can be used to determine the speed perception result of the perception target.

[0121] In practical applications, the speed screening method here can be used in combination with the above-mentioned echo screening method to further distinguish different terminals and improve the accuracy of speed perception.

[0122] The present application is further described in detail below in conjunction with application examples.

[0123] The present application embodiment provides a speed perception method, which is applied to a perception node. Figure 3 , the following describes the speed perception method of the perception node:

[0124] Step 1: Determine whether the terminal's large-cycle speed is in a speed fuzzy interval and obtain a determination result.

[0125] Here, the large cycle speed is equivalent to the first speed in the embodiment of the present application, and the fuzzy speed interval is equivalent to the set interval in the embodiment of the present application.

[0126] If the judgment result indicates that the large cycle speed is not within the set range, step 2 is executed.

[0127] When the judgment result indicates that the large cycle speed is within the set range, step 3 is executed.

[0128] Step 2: Take the large cycle speed as the speed perception result.

[0129] In this case, it is equivalent to directly obtaining the speed perception result of the terminal.

[0130] Step 3: Obtain the fusion speed of the large cycle speed and the small cycle speed.

[0131] Here, the small cycle speed is equivalent to the second speed in the embodiment of the present application, and the fusion speed is equivalent to the third speed in the embodiment of the present application.

[0132] Specifically, the first speed and the second speed are fused based on the fusion speed factor to obtain the fusion speed. The fusion speed factor is equivalent to the first parameter in the embodiment of the present application.

[0133] Step 4: Correct the fusion speed factor.

[0134] Specifically, the fusion speed factor is adjusted based on the changes in the large cycle speed and the small cycle speed; and / or, the fusion speed factor is adjusted based on the large cycle speed that is not in the fuzzy speed interval; and / or, the fusion speed factor is adjusted based on the speed reported by the terminal until the difference between the fusion speed and the speed reported by the terminal is less than a set threshold.

[0135] The adjusted fusion speed factor can be used for fusion speed estimation in the subsequent speed perception process, and the fusion speed can be used as the speed perception result of the terminal.

[0136] In the application embodiment of the present application, the perception node corrects the large-cycle speed in the speed fuzzy interval by fusing the large-cycle speed with the small-cycle speed, thereby obtaining the speed perception result of the terminal. Compared with the related technology, when the estimated large-cycle speed is in the fuzzy speed interval, the speed perception result close to the actual speed of the terminal can still be obtained, thereby improving the accuracy of speed perception.

[0137] Based on the above embodiments, the present application also provides a speed sensing device, which is applied to a sensing node, referring to Figure 4 , the speed sensing device comprises:

[0138] The judging unit 41 is configured to judge whether a first speed of the terminal is within a set interval, and obtain a judgment result; the first speed represents the speed of the terminal perceived based on the first mode; the set interval represents the fuzzy speed interval corresponding to the first mode;

[0139] Fusion unit 42: used for fusing the first speed and the second speed based on the first parameter to obtain a third speed when the judgment result indicates that the first speed is within the set range; wherein,

[0140] The first parameter is used to allocate weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal perceived based on the second mode; the perception period of the first mode is greater than the perception period of the second mode; the third speed represents the speed perception result of the terminal.

[0141] In one embodiment, the first parameter is positively correlated with a first weight, and the first parameter is negatively correlated with a second weight; the first weight represents the weight of the first speed in the third speed, and the second weight represents the weight of the second speed in the third speed.

[0142] In one embodiment, the speed sensing device further includes an adjustment unit, and the adjustment unit is used to:

[0143] The first parameter is adjusted based on a second parameter; the second parameter represents a change in the first speed and a change in the second speed.

[0144] In one embodiment, the adjusting unit adjusts the first parameter based on the second parameter, including:

[0145] When the second parameter is higher than the first set threshold, lowering the first parameter;

[0146] When the second parameter is lower than the second set threshold, the first parameter is increased; wherein,

[0147] The first set threshold is greater than or equal to the second set threshold.

[0148] In one embodiment, the adjustment unit is further configured to:

[0149] Adjust a first parameter based on first information reported by the terminal; the first information includes: the speed of the terminal and the time corresponding to the speed of the terminal; the speed of the terminal includes the real-time speed of the terminal and / or the average speed of the terminal in a time period.

[0150] In one embodiment, the adjusting unit adjusts the first parameter based on the first information reported by the terminal, including:

[0151] Based on the first information, the first parameter is adjusted until a difference between the third speed and the speed reported by the terminal is less than a set threshold.

[0152] In one embodiment, the fusion unit 42 is further configured to:

[0153] Every sensing period of the sensing mode, a sensing signal is sent to the terminal, and a first speed and / or a second speed of the terminal is estimated based on an echo signal of the sensing signal; the sensing mode includes a first mode and / or a second mode.

[0154] In one embodiment, the fusion unit 42 estimates the first speed and / or the second speed of the terminal based on the echo signal of the sensing signal, including:

[0155] Perform convolution correlation processing on the received multiple echo signals respectively to obtain the propagation delay corresponding to each echo signal;

[0156] Based on the propagation delays respectively corresponding to the multiple echo signals, clustering the multiple echo signals to screen out multiple echo signals matching the terminal;

[0157] Based on the multiple echo signals matched with the terminal, a first speed and / or a second speed of the terminal is estimated.

[0158] In actual application, the judging unit 41, the fusing unit 42 and the adjusting unit can all be implemented by a processor in the speed sensing device.

[0159] It should be noted that: the speed perception device provided in the above embodiment only uses the division of the above program modules as an example when performing speed perception. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the speed perception device provided in the above embodiment and the speed perception method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0160] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiment of the present application, the present application also provides an electronic device, such as Figure 5 As shown, the electronic device includes:

[0161] The first communication interface 1 is capable of exchanging information with other devices;

[0162] The first processor 2 is connected to the first communication interface 1 to implement information exchange with other devices, and is used to execute the method provided by one or more technical solutions in the above embodiments when running a computer program. The computer program is stored in the first memory 3.

[0163] Specifically, the first processor 2 is used to determine whether the first speed of the terminal is in a set interval, and obtain a determination result; the first speed represents the speed of the terminal perceived based on the first mode; the set interval represents the fuzzy speed interval corresponding to the first mode;

[0164] When the judgment result indicates that the first speed is within the set range, the first speed and the second speed are fused based on the first parameter to obtain a third speed; wherein,

[0165] The first parameter is used to allocate weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal perceived based on the second mode; the perception period of the first mode is greater than the perception period of the second mode; the third speed represents the speed perception result of the terminal.

[0166] In one embodiment, the first parameter is positively correlated with a first weight, and the first parameter is negatively correlated with a second weight; the first weight represents the weight of the first speed in the third speed, and the second weight represents the weight of the second speed in the third speed.

[0167] In one embodiment, the first processor 2 is further configured to:

[0168] The first parameter is adjusted based on a second parameter; the second parameter represents a change in the first speed and a change in the second speed.

[0169] In one embodiment, the first processor 2 adjusts the first parameter based on the second parameter, including:

[0170] When the second parameter is higher than the first set threshold, lowering the first parameter;

[0171] When the second parameter is lower than the second set threshold, the first parameter is increased; wherein,

[0172] The first set threshold is greater than or equal to the second set threshold.

[0173] In one embodiment, the first processor 2 is further configured to:

[0174] Adjust a first parameter based on first information reported by the terminal; the first information includes: the speed of the terminal and the time corresponding to the speed of the terminal; the speed of the terminal includes the real-time speed of the terminal and / or the average speed of the terminal in a time period.

[0175] In one embodiment, the first processor 2 adjusts the first parameter based on the first information reported by the terminal, including:

[0176] Based on the first information, the first parameter is adjusted until a difference between the third speed and the speed reported by the terminal is less than a set threshold.

[0177] In one embodiment, the first communication interface 1 sends a perception signal to the terminal every perception period of the perception mode, and the first processor 2 estimates the first speed and / or second speed of the terminal based on the echo signal of the perception signal; the perception mode includes a first mode and / or a second mode.

[0178] In one embodiment, the first processor 2 estimates the first speed and / or the second speed of the terminal based on the echo signal of the sensing signal, including:

[0179] Perform convolution correlation processing on the received multiple echo signals respectively to obtain the propagation delay corresponding to each echo signal;

[0180] Based on the propagation delays respectively corresponding to the multiple echo signals, clustering the multiple echo signals to screen out multiple echo signals matching the terminal;

[0181] Based on the multiple echo signals matched with the terminal, a first speed and / or a second speed of the terminal is estimated.

[0182] It should be noted that the specific processing process of the first communication interface 1 can be understood by referring to the above method.

[0183] Of course, in actual application, the various components in the electronic device are coupled together through the bus system 4. It can be understood that the bus system 4 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 4 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, Figure 5 Various buses are labeled as bus system 4.

[0184] The first memory 3 in the embodiment of the present application is used to store various types of data to support operations in the electronic device. Examples of such data include: any computer program used to operate on the electronic device.

[0185] The method disclosed in the above embodiment of the present application can be applied to the first processor 2, or implemented by the first processor 2. The first processor 2 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the first processor 2. The above-mentioned first processor 2 may be a general-purpose processor, DSP, or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 2 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in the first memory 3. The first processor 2 reads the information in the first memory 3 and completes the steps of the above method in combination with its hardware.

[0186] In an exemplary embodiment, the electronic device may be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general purpose processors, controllers, MCUs, Microprocessors, or other electronic components to perform the aforementioned methods.

[0187] It can be understood that the first memory 3 of the embodiment of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0188] In an exemplary embodiment, the present application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, for example, an electronic device storing a computer program, and the computer program can be executed by the first processor 2 of the electronic device to complete the steps of the aforementioned method. The computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.

[0189] In an exemplary embodiment, the embodiment of the present application further provides a computer program product, including a computer program, and the computer program can be executed by the first processor 2 of the electronic device to complete the steps of any of the aforementioned methods.

[0190] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0191] The term "and / or" herein is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the three situations that A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "one or more" herein represents any combination of at least two of any one or more of a plurality. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.

[0192] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0193] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A speed perception method, characterized in that: Applied to a sensing node, the method comprises: Determine whether a first speed of the terminal is within a set interval, and obtain a determination result; the first speed represents the speed of the terminal perceived based on the first mode; the set interval represents a fuzzy speed interval corresponding to the first mode; When the judgment result indicates that the first speed is within the set range, the first speed and the second speed are fused based on the first parameter to obtain a third speed; wherein, The first parameter is used to allocate weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal perceived based on the second mode; the perception period of the first mode is greater than the perception period of the second mode; the third speed represents the speed perception result of the terminal.

2. The method according to claim 1, characterized in that: The first parameter is positively correlated with the first weight, and the first parameter is negatively correlated with the second weight; the first weight represents the weight of the first speed in the third speed, and the second weight represents the weight of the second speed in the third speed.

3. The method according to claim 1, characterized in that The method further comprises: The first parameter is adjusted based on a second parameter; the second parameter represents a change in the first speed and a change in the second speed.

4. The method according to claim 3, characterized in that The adjusting the first parameter based on the second parameter includes: When the second parameter is higher than the first set threshold, lowering the first parameter; When the second parameter is lower than the second set threshold, the first parameter is increased; wherein, The first set threshold is greater than or equal to the second set threshold.

5. The method according to claim 1, characterized in that The method further comprises: Adjust a first parameter based on first information reported by the terminal; the first information includes: the speed of the terminal and the time corresponding to the speed of the terminal; the speed of the terminal includes the real-time speed of the terminal and / or the average speed of the terminal in a time period.

6. The method according to claim 5, characterized in that The adjusting the first parameter based on the first information reported by the terminal includes: Based on the first information, the first parameter is adjusted until a difference between the third speed and the speed reported by the terminal is less than a set threshold.

7. The method according to claim 1, characterized in that The method further comprises: Every sensing period of the sensing mode, a sensing signal is sent to the terminal, and a first speed and / or a second speed of the terminal is estimated based on an echo signal of the sensing signal; the sensing mode includes a first mode and / or a second mode.

8. The method according to claim 7, characterized in that The method of estimating a first speed and / or a second speed of the terminal based on an echo signal of the sensing signal includes: Perform convolution correlation processing on the received multiple echo signals respectively to obtain the propagation delay corresponding to each echo signal; Based on the propagation delays respectively corresponding to the multiple echo signals, clustering the multiple echo signals to screen out multiple echo signals matching the terminal; Based on the multiple echo signals matched with the terminal, a first speed and / or a second speed of the terminal is estimated.

9. A speed sensing device, characterized in that: Applied to perception nodes, including: A judgment unit, configured to judge whether a first speed of the terminal is within a set interval, and obtain a judgment result; the first speed represents the speed of the terminal perceived based on the first mode; the set interval represents a fuzzy speed interval corresponding to the first mode; A fusion unit is used to fuse the first speed and the second speed based on a first parameter to obtain a third speed when the judgment result indicates that the first speed is within the set range; wherein, The first parameter is used to allocate weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal perceived based on the second mode; the perception period of the first mode is greater than the perception period of the second mode; the third speed represents the speed perception result of the terminal.

10. An electronic device, characterized in that: include: A first processor and a first communication interface; wherein, The first processor is used to determine whether a first speed of the terminal is within a set interval, and obtain a determination result; the first speed represents a speed of the terminal perceived based on a first mode; the set interval represents a fuzzy speed interval corresponding to the first mode; When the judgment result indicates that the first speed is within the set range, the first speed and the second speed are fused based on the first parameter to obtain a third speed; wherein, The first parameter is used to allocate weights of the first speed and the second speed in the third speed; the second speed represents the speed of the terminal perceived based on the second mode; the perception period of the first mode is greater than the perception period of the second mode; the third speed represents the speed perception result of the terminal.

11. An electronic device, characterized in that: include: a first processor and a first memory for storing a computer program executable on the processor, Wherein, when the first processor is used to run the computer program, the steps of the method described in any one of claims 1 to 8 are executed.

12. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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