A method, device and electronic device for perceiving path recognition

Abstract

The present application provides a method, device and electronic device for perceptual path identification, which are applied to the field of wireless communication technology. The method includes determining the first path identifier of N perceptual paths corresponding to N echo signals according to the measurement information corresponding to each echo signal in N echo signals; determining the second path identifier of the N perceptual paths, wherein, when the perceptual path is a LOS path, the second path identifier is used to indicate the object type of the first object on the perceptual path; when the perceptual path is a NLOS path, the second path identifier is used to indicate the object type of the second object and the object type of the third object on the perceptual path, the second object is located between the signal transmitting end and the third object, the third object is located between the second object and the signal receiving end, and the object type includes a target or an environmental object. The method improves the accuracy of perceptual path identification.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a perception path recognition method, device and electronic device. Background Art

[0002] Perception is one of the new capabilities of the 6th Generation (6G) system, which can be divided into independent perception and collaborative perception. The line-of-sight (LOS) path in the collaborative perception process refers to the direct transmission of the perception signal between the signal transmitter and the target, and between the target and the signal receiver, without reflection / scattering / refraction / diffraction caused by surrounding objects. The non-line-of-sight (NLOS) path in the collaborative perception process refers to the presence of environmental objects such as buildings and trees between the signal transmitter and the target, or between the target and the signal receiver, resulting in the perception signal being reflected / scattered / refracted / diffracted by environmental objects in addition to being reflected by the target.

[0003] Related technologies mainly use LOS paths for perception, that is, they assume that the path between the signal transmitter and the target, and between the target and the signal receiver are all LOS paths. When multipath exists, the first path, or the path with the strongest receiving power, is often identified as the LOS path. However, since the perception signal needs to be reflected by the target, the path where the perception signal exists is often not the strongest path or the first path. Therefore, the LOS path determined by the related technology may not be the LOS path containing the target, resulting in low accuracy of the perception path identification method. Summary of the invention

[0004] The embodiments of the present application provide a perception path recognition method, device and electronic device to solve the problem of low accuracy of existing perception path recognition methods.

[0005] In order to solve the above technical problems, this application is implemented as follows:

[0006] In a first aspect, an embodiment of the present application provides a perception path recognition method, the perception path recognition method comprising:

[0007] Determine, according to measurement information corresponding to each echo signal in the N echo signals, a first path identifier of N perception paths corresponding to the N echo signals, wherein the first path identifier is used to indicate that the perception path is a line-of-sight LOS path or a non-line-of-sight NLOS path, and the measurement information includes an arrival angle, a departure angle, and a delay of the echo signal, wherein N is a positive integer;

[0008] Determine a second path identifier of the N perception paths, wherein, when the perception path is a LOS path, the second path identifier is used to indicate an object type of a first object on the perception path, and the first object is located between a signal transmitting end and a signal receiving end; when the perception path is a NLOS path, the second path identifier is used to indicate an object type of a second object and an object type of a third object on the perception path, the second object is located between the signal transmitting end and the third object, and the third object is located between the second object and the signal receiving end, and the object types include targets or environmental objects.

[0009] Optionally, the N echo signals include a first echo signal, and determining, according to measurement information corresponding to each echo signal in the N echo signals, first path identifiers of N perception paths corresponding to the N echo signals includes:

[0010] Calculate a first distance according to an arrival angle and a departure angle corresponding to the first echo signal and a distance between the signal transmitting end and the signal receiving end;

[0011] Calculating a second distance according to a time delay corresponding to the first echo signal;

[0012] When the first distance is equal to the second distance, determining that a first path identifier of a sensing path corresponding to the first echo signal is a first value, where the first value is used to indicate that the sensing path is a LOS path;

[0013] In a case where the first distance is not equal to the second distance, it is determined that a first path identifier of the sensing path corresponding to the first echo signal is a second value, and the second value is used to indicate that the sensing path is an NLOS path.

[0014] Optionally, the N sensing paths include a first sensing path, the first sensing path is a LOS path, and the determining a second path identifier of the N sensing paths includes:

[0015] Calculating a position of a first object on the first sensing path according to an arrival angle and a departure angle of an echo signal corresponding to the first sensing path and a distance between the signal transmitting end and the signal receiving end;

[0016] Based on a comparison result of the position of the first object and the position of the environmental object, a second path identifier of the first perception path is determined.

[0017] Optionally, the determining the second path identifier of the first perception path based on the comparison result between the position of the first object and the position of the environmental object includes at least one of the following:

[0018] In a case where the position of the first object is the same as the position of the environmental object, determining that the second path identifier of the first perception path is a third value, wherein the third value is used to indicate that the first perception path is a single-target path;

[0019] In a case where the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, and the fourth value is used to indicate that the first perception path is a single environmental object path.

[0020] Optionally, the N sensing paths include a second sensing path, the second sensing path is an NLOS path, and the determining the second path identifier of the N sensing paths includes:

[0021] In the case where the second perception path corresponds to a first relation LOS path and a second relation LOS path, determining that the position of the second object and the position of the third object on the second perception path are respectively the position of the first object on the first relation LOS path and the position of the first object on the second relation LOS path, wherein the first relation LOS path is a LOS path having a departure angle of an echo signal corresponding thereto and a departure angle of an echo signal corresponding to the second perception path being the same, and the second relation LOS path is a LOS path having an arrival angle of an echo signal corresponding thereto and a arrival angle of an echo signal corresponding to the second perception path being the same;

[0022] Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

[0023] Optionally, the N sensing paths include a second sensing path, the second sensing path is an NLOS path, and the determining the second path identifier of the N sensing paths includes:

[0024] In the case where the second perception path corresponds to the first relation LOS path or the second relation LOS path, determine the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path as the position of the fourth object on the second perception path, wherein the fourth object is one of the second object and the third object, wherein the first relation LOS path is a LOS path whose departure angle of the echo signal corresponding to the first relation LOS path is the same as the departure angle of the echo signal corresponding to the second perception path, and the second relation LOS path is a LOS path whose arrival angle of the echo signal corresponding to the second perception path is the same as the arrival angle of the echo signal corresponding to the second perception path;

[0025] Determine the position of another object among the second object and the third object except the fourth object according to the position of the fourth object and the measurement information of the echo signal corresponding to the second sensing path;

[0026] Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

[0027] Optionally, the determining the second path identifier of the second perception path based on a comparison result of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, includes at least one of the following:

[0028] When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, determining that the second path identifier of the second perception path is a fifth value, and the fifth value is used to indicate that the first segment path of the second perception path is a LOS path, and the second segment path is a NLOS path;

[0029] In a case where the position of the second object is the same as the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a sixth value, and the sixth value is used to indicate that the first segmented path of the second perception path is an NLOS path, and the second segmented path is a LOS path;

[0030] In a case where the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path;

[0031] When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be an eighth value, and the eighth value is used to indicate that the second perception path is a dual environmental object path.

[0032] Optionally, after determining the second path identifiers of the N perception paths, the method further includes:

[0033] Counting the total number of targets on the N sensing paths;

[0034] Based on the comparison result between the total number of the targets and the number of the targets to be measured, a resolution adjustment flag of the signal sending end is determined.

[0035] In a second aspect, an embodiment of the present application further provides a perception path recognition device, the perception path recognition device comprising:

[0036] A first determination module, configured to determine, according to measurement information corresponding to each of the N echo signals, first path identifiers of N sensing paths corresponding to the N echo signals, wherein the measurement information includes an arrival angle, a departure angle, and a delay of the echo signal, wherein N is a positive integer;

[0037] A second determination module is used to determine the second path identifiers of the N perception paths, wherein, when the perception path is a LOS path, the second path identifier is used to indicate the object type of a first object on the perception path, and the first object is located between a signal transmitting end and a signal receiving end; when the perception path is a NLOS path, the second path identifier is used to indicate the object type of a second object and the object type of a third object on the perception path, the second object is located between the signal transmitting end and the third object, and the third object is located between the second object and the signal receiving end, and the object type includes a target or an environmental object.

[0038] Optionally, the N echo signals include a first echo signal, and the first determining module includes:

[0039] A first calculation unit, configured to calculate a first distance according to an arrival angle and a departure angle corresponding to the first echo signal, and a distance between the signal transmitting end and the signal receiving end;

[0040] A second calculation unit, configured to calculate a second distance according to a time delay corresponding to the first echo signal;

[0041] a first determining unit, configured to determine, when the first distance is equal to the second distance, that a first path identifier of a sensing path corresponding to the first echo signal is a first value, wherein the first value is used to indicate that the sensing path is a LOS path;

[0042] A second determining unit is configured to determine, when the first distance is not equal to the second distance, that a first path identifier of the perception path corresponding to the first echo signal is a second value, wherein the second value is used to indicate that the perception path is an NLOS path.

[0043] Optionally, the N sensing paths include a first sensing path, the first sensing path is a LOS path, and the second determining module includes:

[0044] a third calculating unit, configured to calculate a position of a first object on the first sensing path according to an arrival angle and a departure angle of an echo signal corresponding to the first sensing path, and a distance between the signal transmitting end and the signal receiving end;

[0045] The third determining unit is used to determine a second path identifier of the first perception path based on a comparison result of the position of the first object and the position of the environmental object.

[0046] Optionally, the third determining unit includes at least one of the following:

[0047] a first determining subunit, configured to determine, when the position of the first object is the same as the position of the environmental object, that the second path identifier of the first perception path is a third value, wherein the third value is used to indicate that the first perception path is a single-target path;

[0048] The second determining subunit is used to determine that the second path identifier of the first perception path is a fourth value when the position of the first object is different from the position of the environmental object, and the fourth value is used to indicate that the first perception path is a single environmental object path.

[0049] Optionally, the N sensing paths include a second sensing path, the second sensing path is an NLOS path, and the second determining module includes:

[0050] a fourth determining unit, for determining, when the second perception path corresponds to a first relation LOS path and a second relation LOS path, that the position of the second object and the position of the third object on the second perception path are respectively the position of the first object on the first relation LOS path and the position of the first object on the second relation LOS path, wherein the first relation LOS path is a LOS path having a departure angle of an echo signal corresponding thereto and a departure angle of an echo signal corresponding to the second perception path being the same, and the second relation LOS path is a LOS path having an arrival angle of an echo signal corresponding thereto and a arrival angle of an echo signal corresponding to the second perception path being the same;

[0051] The fifth determining unit is used to determine the second path identifier of the second perception path based on the comparison result of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object.

[0052] Optionally, the N sensing paths include a second sensing path, the second sensing path is an NLOS path, and the second determining module includes:

[0053] a sixth determining unit, configured to determine, when the second perception path corresponds to a first relationship LOS path or a second relationship LOS path, that the position of the first object on the first relationship LOS path or the position of the first object on the second relationship LOS path is the position of the fourth object on the second perception path, wherein the fourth object is one of the second object and the third object, wherein the first relationship LOS path is a LOS path having a departure angle of an echo signal corresponding thereto and a departure angle of an echo signal corresponding to the second perception path that is the same, and the second relationship LOS path is a LOS path having an arrival angle of an echo signal corresponding thereto and a arrival angle of an echo signal corresponding to the second perception path that is the same;

[0054] a seventh determining unit, configured to determine a position of another object among the second object and the third object except the fourth object according to the position of the fourth object and the measurement information of the echo signal corresponding to the second sensing path;

[0055] An eighth determination unit is used to determine a second path identifier of the second perception path based on a comparison result between a position of the second object and a position of the environmental object, and a comparison result between a position of the third object and a position of the environmental object.

[0056] Optionally, the eighth determining unit includes at least one of the following:

[0057] a third determining subunit, configured to, when the position of the second object is different from the position of the environmental object and the position of the third object is the same as the position of the environmental object, determine that the second path identifier of the second perception path is a fifth value, wherein the fifth value is used to indicate that the first segmented path of the second perception path is a LOS path and the second segmented path is a NLOS path;

[0058] a fourth determining subunit, configured to, when the position of the second object is the same as the position of the environmental object and the position of the third object is different from the position of the environmental object, determine that the second path identifier of the second perception path is a sixth value, and the sixth value is used to indicate that the first segmented path of the second perception path is an NLOS path and the second segmented path is a LOS path;

[0059] a fifth determining subunit, configured to determine, when the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, that the second path identifier of the second perception path is a seventh value, wherein the seventh value is used to indicate that the second perception path is a dual-target path;

[0060] The sixth determination subunit is used to determine that the second path identifier of the second perception path is an eighth value when the position of the second object is the same as the position of the environmental object and the position of the third object is the same as the position of the environmental object, and the eighth value is used to indicate that the second perception path is a dual environmental object path.

[0061] Optionally, the device further comprises:

[0062] A first statistical module, used to count the total number of targets on the N sensing paths;

[0063] The third determination module is used to determine the resolution adjustment flag of the signal sending end based on the comparison result between the total number of the targets and the number of the targets to be measured.

[0064] In a third aspect, the present application further provides an electronic device, the electronic device comprising a processor, the processor being configured to:

[0065] Determine, according to measurement information corresponding to each of the N echo signals, a first path identifier of N sensing paths corresponding to the N echo signals, wherein the measurement information includes an arrival angle, a departure angle, and a delay of the echo signal, wherein N is a positive integer;

[0066] Determine a second path identifier of the N perception paths, wherein, when the perception path is a LOS path, the second path identifier is used to indicate an object type of a first object on the perception path, and the first object is located between a signal transmitting end and a signal receiving end; when the perception path is a NLOS path, the second path identifier is used to indicate an object type of a second object and an object type of a third object on the perception path, the second object is located between the signal transmitting end and the third object, and the third object is located between the second object and the signal receiving end, and the object types include targets or environmental objects.

[0067] Optionally, the N echo signals include a first echo signal, and the processor is specifically configured to:

[0068] Calculate a first distance according to an arrival angle and a departure angle corresponding to the first echo signal and a distance between the signal transmitting end and the signal receiving end;

[0069] Calculating a second distance according to a time delay corresponding to the first echo signal;

[0070] When the first distance is equal to the second distance, determining that a first path identifier of a sensing path corresponding to the first echo signal is a first value, where the first value is used to indicate that the sensing path is a LOS path;

[0071] In a case where the first distance is not equal to the second distance, it is determined that a first path identifier of the sensing path corresponding to the first echo signal is a second value, and the second value is used to indicate that the sensing path is an NLOS path.

[0072] Optionally, the N sensing paths include a first sensing path, where the first sensing path is a LOS path, and the processor is specifically configured to:

[0073] Calculating a position of a first object on the first sensing path according to an arrival angle and a departure angle of an echo signal corresponding to the first sensing path and a distance between the signal transmitting end and the signal receiving end;

[0074] Based on a comparison result of the position of the first object and the position of the environmental object, a second path identifier of the first perception path is determined.

[0075] Optionally, the processor is specifically configured to:

[0076] In a case where the position of the first object is the same as the position of the environmental object, determining that the second path identifier of the first perception path is a third value, wherein the third value is used to indicate that the first perception path is a single-target path;

[0077] In a case where the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, and the fourth value is used to indicate that the first perception path is a single environmental object path.

[0078] Optionally, the N sensing paths include a second sensing path, where the second sensing path is an NLOS path, and the processor is specifically configured to:

[0079] In the case where the second perception path corresponds to a first relation LOS path and a second relation LOS path, determining that the position of the second object and the position of the third object on the second perception path are respectively the position of the first object on the first relation LOS path and the position of the first object on the second relation LOS path, wherein the first relation LOS path is a LOS path having a departure angle of an echo signal corresponding thereto and a departure angle of an echo signal corresponding to the second perception path being the same, and the second relation LOS path is a LOS path having an arrival angle of an echo signal corresponding thereto and a arrival angle of an echo signal corresponding to the second perception path being the same;

[0080] Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

[0081] Optionally, the N sensing paths include a second sensing path, where the second sensing path is an NLOS path, and the processor is specifically configured to:

[0082] In the case where the second perception path corresponds to the first relation LOS path or the second relation LOS path, determine the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path as the position of the fourth object on the second perception path, wherein the fourth object is one of the second object and the third object, wherein the first relation LOS path is a LOS path whose departure angle of the echo signal corresponding to the first relation LOS path is the same as the departure angle of the echo signal corresponding to the second perception path, and the second relation LOS path is a LOS path whose arrival angle of the echo signal corresponding to the second perception path is the same as the arrival angle of the echo signal corresponding to the second perception path;

[0083] Determine the position of another object among the second object and the third object except the fourth object according to the position of the fourth object and the measurement information of the echo signal corresponding to the second sensing path;

[0084] Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

[0085] Optionally, the processor is specifically configured to:

[0086] When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, determining that the second path identifier of the second perception path is a fifth value, and the fifth value is used to indicate that the first segment path of the second perception path is a LOS path, and the second segment path is a NLOS path;

[0087] In a case where the position of the second object is the same as the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a sixth value, and the sixth value is used to indicate that the first segmented path of the second perception path is an NLOS path, and the second segmented path is a LOS path;

[0088] In a case where the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path;

[0089] When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be an eighth value, and the eighth value is used to indicate that the second perception path is a dual environmental object path.

[0090] Optionally, the processor is further configured to:

[0091] Counting the total number of targets on the N sensing paths;

[0092] Based on the comparison result between the total number of the targets and the number of the targets to be measured, a resolution adjustment flag of the signal sending end is determined.

[0093] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the above-mentioned perception path identification method when executed by the processor.

[0094] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above-mentioned perception path identification method are implemented.

[0095] In a sixth aspect, a computer program product is provided, comprising computer instructions, which, when executed by a processor, implement the steps of the perceptual path identification method as described in the first aspect.

[0096] The perception path identification method of the embodiment of the present application includes determining the first path identifier of the N perception paths corresponding to the N echo signals according to the measurement information corresponding to each echo signal in the N echo signals, wherein the measurement information includes the arrival angle, departure angle and delay of the echo signal, wherein N is a positive integer; determining the second path identifier of the N perception paths, wherein, in the case where the perception path is a LOS path, the second path identifier is used to indicate the object type of the first object on the perception path, and the first object is located between the signal transmitting end and the signal receiving end; in the case where the perception path is a NLOS path, the second path identifier is used to indicate the object type of the second object and the object type of the third object on the perception path, the second object is located between the signal transmitting end and the third object, and the third object is located between the second object and the signal receiving end, and the object type includes a target or an environmental object. The method determines the first path identifier of the N perception paths corresponding to the N echo signals according to the measurement information corresponding to each echo signal in the N echo signals. Furthermore, in the case where the perceived path is a LOS path, by determining the second path identifier of the LOS path, it is possible to determine whether the LOS path contains a target; in the case where the perceived path is a NLOS path, by determining the second path identifier on the NLOS path, it is possible to determine the types of two objects on the NLOS path; based on the types of the two objects on the NLOS path, it is possible to clarify the types of each segmented path of the NLOS path, so this method improves the accuracy of perceived path recognition. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0098] Figure 1 It is one of the schematic diagrams of a collaborative sensing scenario provided in an embodiment of the present application;

[0099] Figure 2 is a schematic diagram of perceptual channel modeling provided in an embodiment of the present application;

[0100] Figure 3 This is one of the flow charts of a perception path identification method provided in an embodiment of the present application;

[0101] Figure 4 This is the second flowchart of a perception path identification method provided in an embodiment of the present application;

[0102] Figure 5This is a second schematic diagram of a collaborative sensing scenario provided in an embodiment of the present application;

[0103] Figure 6 is a structural diagram of a perception path identification device provided in an embodiment of the present application;

[0104] Figure 7 It is a structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0105] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0106] In order to further understand the technical solutions of the embodiments of the present application, the technical background of the embodiments of the present application is first introduced.

[0107] Perception is one of the new capabilities of the sixth generation of mobile communication technology (6th Generation, 6G), which can be divided into independent perception and collaborative perception. Collaborative perception means that at least two base stations jointly complete perception, and the transmitter and receiver of the perception signal are not co-located, which has the advantages of low duplex requirements and avoidance of self-interference.

[0108] Line-of-sight (LOS) transmission in the collaborative sensing process means that the sensing signal is transmitted directly between the signal transmitter and the target, and between the target and the signal receiver, without reflection / scattering / refraction / diffraction caused by surrounding objects, such as Figure 1 (a) shows; non-line-of-sight (NLOS) transmission means that there are environmental objects such as buildings and trees between the signal transmitter and the target, or between the target and the signal receiver, causing the perceived signal to be reflected / scattered / refracted / diffracted by environmental objects in addition to being reflected by the target, such as Figure 1 (b) In addition to LOS transmission and NLOS transmission, the sensing signal may also encounter walls during transmission, causing the sensing signal to be completely blocked and unable to reach the signal receiving end, such as Figure 1 (c) as shown.

[0109] The NLOS problem needs to be solved urgently for the following three reasons:

[0110] (1) The probability of NLOS is high: According to the LOS probability calculation method in 3GPP TR 38.901, when the distance exceeds a certain threshold, the LOS probability will decrease exponentially with the increase of distance. For example, for the UMa scenario, when the target is 100 m away from the base station, the LOS probability is only 34.77%.

[0111] (2) NLOS seriously weakens the perception performance: Compared with the LOS path, the signal delay measured by the signal receiving end will increase and the angle will also change significantly, causing a large perception error.

[0112] (3) NLOS will increase path loss: Each time the sensing signal experiences reflection / scattering / diffraction, the signal power will be attenuated. , where R is the distance between two adjacent targets / environmental objects, and is the radar cross section (RCS) of the target / environmental object. Therefore, in practical applications, it is generally believed that when the number of reflections experienced by the perception signal exceeds two hops, the signal power will be greatly weakened, making it difficult for the signal receiving end to receive and process it.

[0113] In the process of standardizing the Integrated Sensing And Communications (ISAC) channel modeling in 3GPP R19, the following consensus was reached to establish the perceptual channel model as ,like Figure 2 See Figure 2 There are two main types of objects that cause NLOS propagation. One is "B" (background), which represents random spatial clutter that is irrelevant to the target and can be eliminated using clutter suppression and other technologies. The other is "E" (environment object), which represents environmental objects of comparable size to the target, or strong environmental objects such as walls and ground. The NLOS propagation caused by them will have a greater impact on the target position estimation.

[0114] Related technologies mainly use LOS paths for perception, that is, they assume that the path between the signal transmitter and the target, and between the target and the signal receiver are all LOS paths. When multipath exists, the first path, or the path with the strongest receiving power, is often identified as the LOS path. However, since the perception signal needs to be reflected by the target, the path where the perception signal exists is often not the strongest path or the first path. Therefore, the LOS path determined by the related technology may not be the LOS path containing the target, resulting in low accuracy of the perception path identification method.

[0115] In order to solve the above technical problems, the present application embodiment provides a perception path identification method, the prerequisites of which are as follows:

[0116] (1) The signal transmitter and the signal receiver have formed a cooperative node cluster (the distance between the signal transmitter and the signal receiver is known, and the attitude angles of the signal transmitter and the signal receiver are known);

[0117] (2) The sensing target does not participate in the sensing process. That is, the sensing target does not participate in the signal transmission, reception and processing process;

[0118] (3) The signal receiving end can use clutter suppression to filter out the clutter (B) signals in the environment. For the NLOS path caused by clutter (B), the path identification and indication method in the existing 3GPP positioning protocol can be reused.

[0119] (4) This application is mainly aimed at the target (T) and the environmental object (E). Among them, the signal transmitter, the signal receiver or the perception server has obtained the position of the environmental object (E) by reconstructing the environment during idle time.

[0120] (5) The perceived signal undergoes at most two hops of reflection / scattering / refraction / diffraction.

[0121] See also Figure 3 , Figure 3 is a flow chart of the perception path identification method provided by an embodiment of the present application, such as Figure 3 As shown, the following steps are included:

[0122] Step 101: Determine, according to measurement information corresponding to each echo signal in N echo signals, a first path identifier of N perception paths corresponding to the N echo signals, wherein the first path identifier is used to indicate that the perception path is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path, and the measurement information includes an arrival angle, a departure angle, and a delay of the echo signal, wherein N is a positive integer;

[0123] In this step, the signal transmitting end sends a sensing signal, and after the sensing signal is reflected / refracted / diffracted by N targets and / or environmental objects, its N echoes are received by the signal receiving end. For the received N echo signals, the signal receiving end measures each echo signal after clutter suppression to obtain measurement information corresponding to each echo signal. The measurement information corresponding to each echo signal includes the arrival angle, departure angle and delay of the echo signal, as well as the receiving power of the echo signal.

[0124] The first distance is calculated according to the arrival angle and departure angle corresponding to the echo signal, and the distance between the signal transmitting end and the signal receiving end; the second distance is calculated according to the delay corresponding to the echo signal. If the first distance and the second distance are the same, the sensing path corresponding to the echo signal is determined to be the LOS path; if the first distance and the second distance are different, the sensing path corresponding to the echo signal is determined to be the NLOS path.

[0125] Step 102: determine the second path identifiers of the N perception paths, wherein, when the perception path is a LOS path, the second path identifier is used to indicate the object type of the first object on the perception path, and the first object is located between the signal transmitting end and the signal receiving end; when the perception path is a NLOS path, the second path identifier is used to indicate the object type of the second object and the object type of the third object on the perception path, the second object is located between the signal transmitting end and the third object, and the third object is located between the second object and the signal receiving end, and the object type includes a target or an environmental object.

[0126] In this step, the object type may be a target or an environmental object. When it is determined that the sensed path is a LOS path, a second path identifier of the LOS path is further determined, and the second path identifier of the LOS path depends on the object type of the first object on the LOS path. The object type of the first object may be obtained based on a comparison result between the position of the first object and the position of a previously known environmental object. If it is determined that the position of the first object is the same as the position of the previously known environmental object, the first object is determined to be an environmental object; if it is determined that the position of the first object is not the same as the position of the previously known environmental object, the first object is determined to be a target.

[0127] In the case where it is determined that the perceived path is an NLOS path, a second path identifier of the NLOS path is further determined, and the second path identifier of the NLOS path depends on the object type of the second object and the object type of the third object on the NLOS path. The object type of the second object and the object type of the third object can be obtained based on the comparison result of the position of the second object and the position of the third object with the position of the previously known environmental objects. It should be noted that the front-to-back relationship between the second object and the third object on the NLOS path is that the second object is in front and the third object is in the back, that is, the second object is located between the signal sending end and the third object.

[0128] If the position of the second object is determined to be the same as the position of the pre-known environmental object, the second object is determined to be an environmental object; if the position of the second object is determined to be different from the position of the pre-known environmental object, the second object is determined to be a target. If the position of the third object is determined to be the same as the position of the pre-known environmental object, the third object is determined to be an environmental object; if the position of the third object is determined to be different from the position of the pre-known environmental object, the third object is determined to be a target.

[0129] In one implementation, the first path identifiers of the N sensing paths corresponding to the N echo signals are determined based on the measurement information corresponding to each echo signal in the N echo signals. Furthermore, when the sensing path is a LOS path, by determining the second path identifier of the LOS path, it is possible to determine whether the LOS path contains a target. When the sensing path is a NLOS path, by determining the second path identifier on the NLOS path, it is possible to determine the types of the two objects on the NLOS path. According to the types of the two objects on the NLOS path, it is possible to clarify the types of each segmented path of the NLOS path. Therefore, this implementation improves the accuracy of sensing path recognition.

[0130] Optionally, the N echo signals include a first echo signal, and determining, according to measurement information corresponding to each echo signal in the N echo signals, first path identifiers of N perception paths corresponding to the N echo signals includes:

[0131] Calculate a first distance according to an arrival angle and a departure angle corresponding to the first echo signal and a distance between the signal transmitting end and the signal receiving end;

[0132] Calculating a second distance according to a time delay corresponding to the first echo signal;

[0133] When the first distance is equal to the second distance, determining that a first path identifier of a sensing path corresponding to the first echo signal is a first value, where the first value is used to indicate that the sensing path is a LOS path;

[0134] In a case where the first distance is not equal to the second distance, it is determined that a first path identifier of the sensing path corresponding to the first echo signal is a second value, and the second value is used to indicate that the sensing path is an NLOS path.

[0135] In one implementation, taking the first echo signal among multiple echo signals as an example, it is assumed that the departure angle corresponding to the first echo signal is , the arrival angle is , assuming the distance between the signal transmitter and the signal receiver is The first distance can be calculated according to the following formula for:

[0136] .

[0137] Assume the delay corresponding to the first echo signal is , according to the speed of signal propagation , the second distance can be calculated as .

[0138] Compare the first distance and the second distance. When the first distance is equal to the second distance, determine that the first path identifier of the perception path corresponding to the first echo signal is a first value (such as 0), and the first value is used to indicate that the perception path is a LOS path; when the first distance is not equal to the second distance, determine that the first path identifier of the perception path corresponding to the first echo signal is a second value (such as 1), and the second value is used to indicate that the perception path is a NLOS path.

[0139] In this implementation, based on the measurement information corresponding to the echo signal and the distance between the signal transmitting end and the signal receiving end, it can be accurately determined whether the sensed path is a LOS path or a NLOS path.

[0140] Optionally, the N sensing paths include a first sensing path, the first sensing path is a LOS path, and the determining a second path identifier of the N sensing paths includes:

[0141] Calculating a position of a first object on the first sensing path according to an arrival angle and a departure angle of an echo signal corresponding to the first sensing path and a distance between the signal transmitting end and the signal receiving end;

[0142] Based on a comparison result of the position of the first object and the position of the environmental object, a second path identifier of the first perception path is determined.

[0143] In one implementation, the departure angle corresponding to the echo signal corresponding to the first sensing path is assumed to be , the arrival angle is , assuming the distance between the signal transmitter and the signal receiver is , the position of the first object can be calculated according to the following formula ( , ):

[0144] ;

[0145] The position of the first object is compared with the position of the environmental object. If the positions of the first object and the environmental object are the same, the first object can be determined to be an environmental object; if the positions of the first object and the environmental object are different, the first object can be determined to be a target. Then, according to the object type of the first object, the path identifier of the first perception path is determined.

[0146] In this embodiment, the position of the first object on the LOS path is determined according to the arrival angle and departure angle of the echo signal corresponding to the LOS path, and the distance between the signal transmitting end and the signal receiving end. The position of the first object is compared with the position of the environmental object to determine the path identification of the LOS path. According to the path identification of the LOS path, it can be known whether the LOS path contains the target, thereby improving the accuracy of the perception path recognition method.

[0147] Optionally, the determining the second path identifier of the first perception path based on the comparison result between the position of the first object and the position of the environmental object includes at least one of the following:

[0148] In a case where the position of the first object is the same as the position of the environmental object, determining that the second path identifier of the first perception path is a third value, wherein the third value is used to indicate that the first perception path is a single-target path;

[0149] In a case where the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, and the fourth value is used to indicate that the first perception path is a single environmental object path.

[0150] In one implementation, the third value and the fourth value may be represented by a string, for example:

[0151] If the first object is a target, the path identifier of the first perception path may be determined to be a third value 000;

[0152] If the first object is an environmental object, it can be determined that the path identifier of the first perception path is the fourth value 011.

[0153] Optionally, the N sensing paths include a second sensing path, the second sensing path is an NLOS path, and the determining the second path identifier of the N sensing paths includes:

[0154] In the case where the second perception path corresponds to a first relation LOS path and a second relation LOS path, determining that the position of the second object and the position of the third object on the second perception path are respectively the position of the first object on the first relation LOS path and the position of the first object on the second relation LOS path, wherein the first relation LOS path is a LOS path having a departure angle of an echo signal corresponding thereto and a departure angle of an echo signal corresponding to the second perception path being the same, and the second relation LOS path is a LOS path having an arrival angle of an echo signal corresponding thereto and a arrival angle of an echo signal corresponding to the second perception path being the same;

[0155] Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

[0156] In one embodiment, if the second perception path corresponds to one LOS path (i.e., the first relationship LOS path mentioned above) with the same arrival angle, and one LOS path (i.e., the second relationship LOS path mentioned above) with the same departure angle, then the positions of the two objects on the second perception path can be solved through the LOS path associated with it.

[0157] Exemplarily, the departure angle corresponding to the echo signal corresponding to the first relation LOS path is assumed to be , the arrival angle is , assuming the distance between the signal transmitter and the signal receiver is The position of the first object on the first relation LOS path can be calculated according to the following calculation formula ( , ):

[0158] ;

[0159] Assume that the departure angle corresponding to the echo signal corresponding to the second relation LOS path is , the arrival angle is , assuming the distance between the signal transmitter and the signal receiver is The position of the first object on the second relationship LOS path can be calculated according to the following calculation formula ( , ):

[0160] ;

[0161] Then, it can be determined that the position of the second object and the position of the third object on the second perception path are respectively the position of the first object on the first relation LOS path and the position of the first object on the second relation LOS path.

[0162] Furthermore, the position of the second object is compared with the position of the environmental object, and the position of the third object is compared with the position of the environmental object to determine the path identifier of the second perception path.

[0163] In this embodiment, by determining the second path identifier of the second perception path, the types of two objects on the second perception path can be indicated. According to the types of the two objects on the second perception path, the types of each segmented path of the second perception path can be clarified, thereby improving the accuracy of perception path identification.

[0164] Optionally, the N sensing paths include a second sensing path, the second sensing path is an NLOS path, and the determining the second path identifier of the N sensing paths includes:

[0165] In the case where the second perception path corresponds to the first relation LOS path or the second relation LOS path, determine the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path as the position of the fourth object on the second perception path, wherein the fourth object is one of the second object and the third object, wherein the first relation LOS path is a LOS path whose departure angle of the echo signal corresponding to the first relation LOS path is the same as the departure angle of the echo signal corresponding to the second perception path, and the second relation LOS path is a LOS path whose arrival angle of the echo signal corresponding to the second perception path is the same as the arrival angle of the echo signal corresponding to the second perception path;

[0166] Determine the position of another object among the second object and the third object except the fourth object according to the position of the fourth object and the measurement information of the echo signal corresponding to the second sensing path;

[0167] Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

[0168] In one implementation, if the second perception path corresponds to only one relational LOS path, the position of an object in the second perception path can be determined by the relational LOS path. The position of another object in the second perception path can be determined by the measurement information of the echo signal corresponding to the second perception path and the position of the object that has been solved on the second perception path. Specifically:

[0169] Assume that the departure angle of the relational LOS path corresponding to the second sensing path is , the arrival angle is , assuming the distance between the signal transmitter and the signal receiver is The position of the first object on the LOS path can be calculated using the following formula ( , ):

[0170] ;

[0171] The position of the first object on the relational LOS path is determined as the position of one of the objects on the second perception path.

[0172] The position of another object in the second perceptual path ( , ) can be obtained through the measurement information of the echo signal corresponding to the second sensing path ( , , ) and the position or measurement information of the object that has been solved on the second perception path ( ) to determine:

[0173] ;

[0174] in, , , .

[0175] In this embodiment, by determining the second path identifier on the second perception path, the types of the two objects on the second perception path can be indicated. According to the types of the two objects on the second perception path, the types of each segmented path of the second perception path can be clarified, thereby improving the accuracy of perception path identification.

[0176] Optionally, the determining the second path identifier of the second perception path based on a comparison result of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, includes at least one of the following:

[0177] When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, determining that the second path identifier of the second perception path is a fifth value, and the fifth value is used to indicate that the first segment path of the second perception path is a LOS path, and the second segment path is a NLOS path;

[0178] In a case where the position of the second object is the same as the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a sixth value, and the sixth value is used to indicate that the first segmented path of the second perception path is an NLOS path, and the second segmented path is a LOS path;

[0179] In a case where the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path;

[0180] When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be an eighth value, and the eighth value is used to indicate that the second perception path is a dual environmental object path.

[0181] In one implementation, the fifth value, the sixth value, the seventh value, and the eighth value may be represented by a string, for example:

[0182] If the second object is a target and the third object is an environmental object, it can be determined that the path identifier of the second perception path is the fifth value 101. In this case, the first segment of the second perception path is a LOS path (i.e., signal sending end—target), and the second segment of the second perception path is a NLOS path (i.e., target—environmental object—signal receiving end).

[0183] If the second object is an environmental object and the third object is a target, it can be determined that the path identifier of the second perception path is the sixth value 110. In this case, the first segment of the second perception path is an NLOS path (i.e., signal sending end—environmental object), and the second segment of the second perception path is an LOS path (i.e., environmental object—target—signal receiving end).

[0184] If the second object is a target and the third object is a target, it can be determined that the path identifier of the second perception path is the seventh value 100. In this case, the second perception path is a dual-target path;

[0185] If the second object is an environmental object and the third object is an environmental object, it can be determined that the path identifier of the second perception path is the eighth value 111. In this case, the second perception path is a dual environmental object path.

[0186] Optionally, after determining the second path identifiers of the N perception paths, the method further includes:

[0187] Counting the total number of targets on the N sensing paths;

[0188] Based on the comparison result between the total number of the targets and the number of the targets to be measured, a resolution adjustment flag of the signal sending end is determined.

[0189] In one implementation, the number of targets on N perception paths is counted to obtain the total number of targets. If the total number of targets is less than the number of targets to be measured, it means that the resolution of the perception signal sent by the signal transmitting end does not meet the measurement requirements and the resolution needs to be adjusted. The resolution adjustment flag can be determined to be "1" so that the signal transmitting end changes the transmission beam direction and uses a narrower beam to send a perception signal with a larger bandwidth again to avoid the NLOS path and improve the resolution. If the total number of targets is equal to the number of targets to be measured, it means that the resolution of the perception signal sent by the signal transmitting end can meet the measurement requirements and the resolution does not need to be adjusted. The resolution adjustment flag can be determined to be "0".

[0190] In this implementation, by determining the resolution adjustment flag of the signal transmitting end, the signal transmitting end can adjust the sensing signal and beam configuration according to the resolution adjustment flag to avoid the NLOS path and improve the resolution.

[0191] In one embodiment, see Figure 4 , Figure 4 This is the second flowchart of the perception path recognition method provided in the embodiment of the present application. The perception path recognition method provided in the embodiment of the present application can be divided into the following steps:

[0192] 1. Overall path identification:

[0193] The signal transmitter sends a sensing signal, and after the sensing signal is reflected / refracted / diffracted by N targets and / or environmental objects, its N echoes are received by the signal receiver. For the N received echo signals, the signal receiver measures each echo signal after clutter suppression to obtain the measurement information corresponding to each echo signal. The measurement information corresponding to each echo signal includes the arrival angle, departure angle and delay of the echo signal, as well as the receiving power of the echo signal.

[0194] The first distance is calculated based on the arrival angle and departure angle corresponding to the echo signal, and the distance between the signal transmitting end and the signal receiving end; the second distance is calculated based on the delay corresponding to the echo signal. If the first distance and the second distance are the same, the sensing path corresponding to the echo signal is determined to be a LOS path, which can be marked with "0"; if the first distance and the second distance are different, the sensing path corresponding to the echo signal is determined to be a NLOS path, which can be marked with "1".

[0195] 2. “Object” position estimation:

[0196] (1) For each NLOS path, if there is a LOS path or environmental object with the same angle of arrival (AoA) and / or angle of departure (AoD), then the NLOS path can be further marked as a "solvable NLOS path", otherwise it is marked as an "unsolvable NLOS path". The corresponding LOS path can be further marked as a "relationship LOS path corresponding to the solvable NLOS path".

[0197] (2) Estimating the position of the first object on the LOS path: For the path judged as LOS, the position of the first object on each LOS path is calculated based on the AoA and AoD corresponding to each LOS path and the distance between the signal transmitter and the signal receiver.

[0198] (3) Estimate the position of the second object and the position of the third object on the “solvable NLOS path”:

[0199] a) If the “solvable NLOS path” corresponds to one “relationship LOS path corresponding to the solvable NLOS path” or one environmental object with the same AoA, and one “relationship LOS path corresponding to the solvable NLOS path” or one environmental object with the same AoD, then the position of the second object and the position of the third object on the NLOS path can be solved through the two relationship LOS paths;

[0200] b) If the "solvable NLOS path" corresponds to only one "relative LOS path corresponding to the solvable NLOS path" or one environmental object, the position of one of the objects on the NLOS path can be solved by the relative LOS path or environmental object. The position of another object on the NLOS path can be obtained based on the AoA, AoD, delay of the NLOS path, combined with the position of the object that has been calculated.

[0201] (4) For unsolvable paths, they are determined to be dual-objective paths.

[0202] 3. Resolution adjustment judgment and segmented path identification:

[0203] (1) Compare the position of the first object on the LOS path, the position of the second object on the NLOS path, and the position of the third object with the position of the environmental object (E), remove the positions with the same position as the environmental object, and select the remaining positions as the positions of the targets (T), and count the number of measured targets K. If the number of measured targets K is less than the number of targets to be measured M, the resolution adjustment flag can be determined to be "1", otherwise it is "0".

[0204] (2) For the LOS path containing the target (T), its identification can be determined as "000". For the LOS path containing the environmental object (E), its identification can be determined as "011".

[0205] (3) For NLOS paths, each NLOS path is further segmented according to whether the first object and the second object on each path belong to an environmental object (E) or a target (T). Four results are obtained as shown in Table 1:

[0206]

[0207] Assume that the signal sending end is base station A, the signal receiving end can be base station B or terminal B, and there may also be a server C for collecting or calculating the perception measurement results and notifying the signal sending end or the signal receiving end to perform corresponding adjustments.

[0208] According to the different execution entities of the three steps mentioned in the above perception path identification method, there are twelve methods as shown in Table 2:

[0209]

[0210] (1) For methods 1 and 6 in Table 2, base station B or terminal B needs to send the number of targets K (or resolution adjustment flag, which can be represented by a 1-bit string), the location of each object, and the segment flag of each path (which can be represented by a 3-bit string) to server C or base station A;

[0211] (2) For methods 2, 4, 7, and 9 in Table 2, base station B or terminal B needs to send the measurement information of each path and the locations of all objects corresponding to each path to server C or base station A, and can also send the overall identification of each path to server C or base station A;

[0212] (3) For methods 3, 5, 8, and 10 in Table 2, base station B or terminal B needs to send the overall identification of each path (which can be represented by a 1-bit string) and the measurement information of each path to server C or base station A;

[0213] (4) For methods 11 and 12 in Table 2, base station B or terminal B only needs to send the measurement information of each path to server C or base station A.

[0214] When the signal transmitter determines that the number of NLOS paths is not 0 based on the received path identifier, the beam angle and / or transmission power of the perception signal can be adjusted to avoid the NLOS path. When the signal transmitter receives the resolution adjustment identifier as "1", the perception resolution can be increased by increasing the bandwidth of the perception signal and / or using a finer beam.

[0215] To further illustrate the technical means of the above-mentioned embodiment, for example, see Figure 5 , Figure 5 is a schematic diagram of a collaborative sensing scenario. The distance between base station A and base station B is known, represented by . The targets to be measured are T and 'T', and the number is 2. Since the resolution of the sensing signal sent by base station A is insufficient and the two targets to be measured are close to each other, base station B cannot distinguish the echo signals passing through the two targets. The path between base station A and the two targets is the LOS path; there is a known environmental object S between the two targets and base station B, so the path between the two targets and base station B is the NLOS path.

[0216] (1) Base station A sends a reference signal to base station B.

[0217] (2) Base station B receives two echo signals and measures them. The results are shown in Table 3:

[0218]

[0219] (3) Overall path determination:

[0220] Base station B uses S1 , , combined with the distance between the signal transmitter and the signal receiver , calculate the sum of the distances between the signal transmitter - "object" and the "object" - signal receiver:

[0221] ;

[0222] Base station B compares the estimated total distance and according to the delay The total distance measured , if they are determined to be the same, path S1 is determined to be a LOS path. Base station B processes S2 in a similar manner, and if they are determined to be different, path S2 is determined to be a NLOS path.

[0223] (4) Position estimation:

[0224] For the LOS path S1, base station B uses , , combined with the distance between the signal transmitter and the signal receiver , calculate the position of "object 1", that is:

[0225] ;

[0226] Base station B then uses the estimated position or measurement information of "object 1" ( ), combined with the angle and delay information of S2 , , , estimate the position of "object 2" on the NLOS path S2:

[0227] ;

[0228] in, , , .

[0229] (5) Target screening and segmented path identification:

[0230] Base station B will take the location of "object 1" and the location of "object 2" Position relative to known environmental objects By comparison, it is found that the position of "object 1" is the same as the position of the known environmental object, so it is considered that "object 1" is not the target to be measured, but a known environmental object, so it is screened out, and the remaining "object 2" is the target to be measured, so the total number of measured targets is 1. Since base station B knows that the number of targets to be measured is 2, which is greater than the total number of measured targets, it means that the resolution of the existing perception signal cannot meet the measurement requirements, so the resolution adjustment flag is configured to "1".

[0231] According to the geometric relationship on the NLOS path S2, it is known that the environmental object is located between the target and base station B, so according to Table 1, the segment path identification result is determined to be "101". Base station B can avoid the NLOS path by adjusting the receiving beam direction.

[0232] (6) Information feedback:

[0233] Base station B sends the target location to base station A via the Xn interface. , resolution adjustment mark “1”, and segmented path recognition result mark “101”.

[0234] (7) Signal adjustment:

[0235] Base station A receives the resolution adjustment mark "1" and the segment path identification result mark "101", changes the transmission beam direction, uses a narrower beam, and sends a reference signal with a larger bandwidth again to avoid the NLOS path and improve the resolution.

[0236] See also Figure 6 , Figure 6 is a structural diagram of a sensing path recognition device provided by an embodiment of the present application. Figure 6 As shown, the sensing path identification device 600 includes:

[0237] A first determination module 601 is used to determine, according to measurement information corresponding to each echo signal in the N echo signals, a first path identifier of N perception paths corresponding to the N echo signals, wherein the first path identifier is used to indicate that the perception path is a line-of-sight LOS path or a non-line-of-sight NLOS path, and the measurement information includes an arrival angle, a departure angle, and a delay of the echo signal, wherein N is a positive integer;

[0238] The second determination module 602 is used to determine the second path identifiers of the N perception paths, wherein, when the perception path is a LOS path, the second path identifier is used to indicate the object type of the first object on the perception path, and the first object is located between the signal sending end and the signal receiving end; when the perception path is a NLOS path, the second path identifier is used to indicate the object type of the second object and the object type of the third object on the perception path, the second object is located between the signal sending end and the third object, and the third object is located between the second object and the signal receiving end, and the object type includes a target or an environmental object.

[0239] Optionally, the N echo signals include a first echo signal, and the first determining module includes:

[0240] A first calculation unit, configured to calculate a first distance according to an arrival angle and a departure angle corresponding to the first echo signal, and a distance between the signal transmitting end and the signal receiving end;

[0241] A second calculation unit, configured to calculate a second distance according to a time delay corresponding to the first echo signal;

[0242] a first determining unit, configured to determine, when the first distance is equal to the second distance, that a first path identifier of a sensing path corresponding to the first echo signal is a first value, wherein the first value is used to indicate that the sensing path is a LOS path;

[0243] A second determining unit is configured to determine, when the first distance is not equal to the second distance, that a first path identifier of the perception path corresponding to the first echo signal is a second value, wherein the second value is used to indicate that the perception path is an NLOS path.

[0244] Optionally, the N sensing paths include a first sensing path, the first sensing path is a LOS path, and the second determining module includes:

[0245] a third calculating unit, configured to calculate a position of a first object on the first sensing path according to an arrival angle and a departure angle of an echo signal corresponding to the first sensing path, and a distance between the signal transmitting end and the signal receiving end;

[0246] The third determining unit is used to determine a second path identifier of the first perception path based on a comparison result of the position of the first object and the position of the environmental object.

[0247] Optionally, the third determining unit includes at least one of the following:

[0248] a first determining subunit, configured to determine, when the position of the first object is the same as the position of the environmental object, that the second path identifier of the first perception path is a third value, wherein the third value is used to indicate that the first perception path is a single-target path;

[0249] The second determining subunit is used to determine that the second path identifier of the first perception path is a fourth value when the position of the first object is different from the position of the environmental object, and the fourth value is used to indicate that the first perception path is a single environmental object path.

[0250] Optionally, the N sensing paths include a second sensing path, the second sensing path is an NLOS path, and the second determining module includes:

[0251] a fourth determining unit, for determining, when the second perception path corresponds to a first relation LOS path and a second relation LOS path, that the position of the second object and the position of the third object on the second perception path are respectively the position of the first object on the first relation LOS path and the position of the first object on the second relation LOS path, wherein the first relation LOS path is a LOS path having a departure angle of an echo signal corresponding thereto and a departure angle of an echo signal corresponding to the second perception path being the same, and the second relation LOS path is a LOS path having an arrival angle of an echo signal corresponding thereto and a arrival angle of an echo signal corresponding to the second perception path being the same;

[0252] The fifth determining unit is used to determine the second path identifier of the second perception path based on the comparison result of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object.

[0253] Optionally, the N sensing paths include a second sensing path, the second sensing path is an NLOS path, and the second determining module includes:

[0254] a sixth determining unit, configured to determine, when the second perception path corresponds to a first relationship LOS path or a second relationship LOS path, that the position of the first object on the first relationship LOS path or the position of the first object on the second relationship LOS path is the position of the fourth object on the second perception path, wherein the fourth object is one of the second object and the third object, wherein the first relationship LOS path is a LOS path having a departure angle of an echo signal corresponding thereto and a departure angle of an echo signal corresponding to the second perception path that is the same, and the second relationship LOS path is a LOS path having an arrival angle of an echo signal corresponding thereto and a arrival angle of an echo signal corresponding to the second perception path that is the same;

[0255] a seventh determining unit, configured to determine a position of another object among the second object and the third object except the fourth object according to the position of the fourth object and the measurement information of the echo signal corresponding to the second sensing path;

[0256] An eighth determination unit is used to determine a second path identifier of the second perception path based on a comparison result between a position of the second object and a position of the environmental object, and a comparison result between a position of the third object and a position of the environmental object.

[0257] Optionally, the eighth determining unit includes at least one of the following:

[0258] a third determining subunit, configured to, when the position of the second object is different from the position of the environmental object and the position of the third object is the same as the position of the environmental object, determine that the second path identifier of the second perception path is a fifth value, wherein the fifth value is used to indicate that the first segmented path of the second perception path is a LOS path and the second segmented path is a NLOS path;

[0259] a fourth determining subunit, configured to, when the position of the second object is the same as the position of the environmental object and the position of the third object is different from the position of the environmental object, determine that the second path identifier of the second perception path is a sixth value, and the sixth value is used to indicate that the first segmented path of the second perception path is an NLOS path and the second segmented path is a LOS path;

[0260] a fifth determining subunit, configured to determine, when the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, that the second path identifier of the second perception path is a seventh value, wherein the seventh value is used to indicate that the second perception path is a dual-target path;

[0261] The sixth determination subunit is used to determine that the second path identifier of the second perception path is an eighth value when the position of the second object is the same as the position of the environmental object and the position of the third object is the same as the position of the environmental object, and the eighth value is used to indicate that the second perception path is a dual environmental object path.

[0262] Optionally, the device further comprises:

[0263] A first statistical module, used to count the total number of targets on the N sensing paths;

[0264] The third determination module is used to determine the resolution adjustment flag of the signal sending end based on the comparison result between the total number of the targets and the number of the targets to be measured.

[0265] The present application also provides an electronic device. Since the principle of solving the problem by the electronic device is similar to the method of perceiving path recognition in the present application, the implementation of the electronic device can refer to the implementation of the method, and the repeated parts will not be repeated. Figure 7 As shown, the terminal of the embodiment of the present application includes: a processor 700, which is used to read the program in the memory 720 and execute the following process:

[0266] Determine, according to measurement information corresponding to each of the N echo signals, a first path identifier of N sensing paths corresponding to the N echo signals, wherein the measurement information includes an arrival angle, a departure angle, and a delay of the echo signal, wherein N is a positive integer;

[0267] Determine a second path identifier of the N perception paths, wherein, when the perception path is a LOS path, the second path identifier is used to indicate an object type of a first object on the perception path, and the first object is located between a signal transmitting end and a signal receiving end; when the perception path is a NLOS path, the second path identifier is used to indicate an object type of a second object and an object type of a third object on the perception path, the second object is located between the signal transmitting end and the third object, and the third object is located between the second object and the signal receiving end, and the object types include targets or environmental objects.

[0268] Optionally, the N echo signals include a first echo signal, and the processor 700 is configured to read a program in the memory 720 and perform the following process:

[0269] Calculate a first distance according to an arrival angle and a departure angle corresponding to the first echo signal and a distance between the signal transmitting end and the signal receiving end;

[0270] Calculating a second distance according to a time delay corresponding to the first echo signal;

[0271] When the first distance is equal to the second distance, determining that a first path identifier of a sensing path corresponding to the first echo signal is a first value, where the first value is used to indicate that the sensing path is a LOS path;

[0272] In a case where the first distance is not equal to the second distance, it is determined that a first path identifier of the sensing path corresponding to the first echo signal is a second value, and the second value is used to indicate that the sensing path is an NLOS path.

[0273] Optionally, the N sensing paths include a first sensing path, the first sensing path is a LOS path, and the processor 700 is configured to read a program in the memory 720 and perform the following process:

[0274] Calculating a position of a first object on the first sensing path according to an arrival angle and a departure angle of an echo signal corresponding to the first sensing path and a distance between the signal transmitting end and the signal receiving end;

[0275] Based on a comparison result of the position of the first object and the position of the environmental object, a second path identifier of the first perception path is determined.

[0276] Optionally, the processor 700 is configured to read a program in the memory 720 and perform the following process:

[0277] In a case where the position of the first object is the same as the position of the environmental object, determining that the second path identifier of the first perception path is a third value, wherein the third value is used to indicate that the first perception path is a single-target path;

[0278] In a case where the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, and the fourth value is used to indicate that the first perception path is a single environmental object path.

[0279] Optionally, the N sensing paths include a second sensing path, and the second sensing path is an NLOS path. The processor 700 is configured to read a program in the memory 720 and perform the following process:

[0280] In the case where the second perception path corresponds to a first relation LOS path and a second relation LOS path, determining that the position of the second object and the position of the third object on the second perception path are respectively the position of the first object on the first relation LOS path and the position of the first object on the second relation LOS path, wherein the first relation LOS path is a LOS path having a departure angle of an echo signal corresponding thereto and a departure angle of an echo signal corresponding to the second perception path being the same, and the second relation LOS path is a LOS path having an arrival angle of an echo signal corresponding thereto and a arrival angle of an echo signal corresponding to the second perception path being the same;

[0281] Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

[0282] Optionally, the N sensing paths include a second sensing path, and the second sensing path is an NLOS path. The processor 700 is configured to read a program in the memory 720 and perform the following process:

[0283] In the case where the second perception path corresponds to the first relation LOS path or the second relation LOS path, determine the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path as the position of the fourth object on the second perception path, wherein the fourth object is one of the second object and the third object, wherein the first relation LOS path is a LOS path whose departure angle of the echo signal corresponding to the first relation LOS path is the same as the departure angle of the echo signal corresponding to the second perception path, and the second relation LOS path is a LOS path whose arrival angle of the echo signal corresponding to the second perception path is the same as the arrival angle of the echo signal corresponding to the second perception path;

[0284] Determine the position of another object among the second object and the third object except the fourth object according to the position of the fourth object and the measurement information of the echo signal corresponding to the second sensing path;

[0285] Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

[0286] Optionally, the processor 700 is configured to read a program in the memory 720 and perform the following process:

[0287] When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, determining that the second path identifier of the second perception path is a fifth value, and the fifth value is used to indicate that the first segment path of the second perception path is a LOS path, and the second segment path is a NLOS path;

[0288] In a case where the position of the second object is the same as the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a sixth value, and the sixth value is used to indicate that the first segmented path of the second perception path is an NLOS path, and the second segmented path is a LOS path;

[0289] In a case where the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path;

[0290] When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be an eighth value, and the eighth value is used to indicate that the second perception path is a dual environmental object path.

[0291] Optionally, the processor 700 is configured to read a program in the memory 720 and perform the following process:

[0292] Counting the total number of targets on the N sensing paths;

[0293] Based on the comparison result between the total number of the targets and the number of the targets to be measured, a resolution adjustment flag of the signal sending end is determined.

[0294] The electronic device provided in the embodiment of the present application can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated in this embodiment.

[0295] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned perception path identification method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0296] The present application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the above Figure 1 The various processes of the method embodiment shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0297] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0298] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0299] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A perception path recognition method, characterized in that: The method comprises: Determine, according to measurement information corresponding to each echo signal in the N echo signals, a first path identifier of N perception paths corresponding to the N echo signals, wherein the first path identifier is used to indicate that the perception path is a line-of-sight LOS path or a non-line-of-sight NLOS path, and the measurement information includes an arrival angle, a departure angle, and a delay of the echo signal, wherein N is a positive integer; Determine a second path identifier of the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate an object type of a first object on the sensing path, and the first object is located between a signal transmitting end and a signal receiving end; when the sensing path is a NLOS path, the second path identifier is used to indicate an object type of a second object and an object type of a third object on the sensing path, the second object is located between the signal transmitting end and the third object, the third object is located between the second object and the signal receiving end, and the object type includes a target or an environmental object; The N echo signals include a first echo signal, and determining, according to measurement information corresponding to each echo signal in the N echo signals, first path identifiers of N perception paths corresponding to the N echo signals includes: Calculate a first distance according to an arrival angle and a departure angle corresponding to the first echo signal and a distance between the signal transmitting end and the signal receiving end; Calculating a second distance according to a time delay corresponding to the first echo signal; When the first distance is equal to the second distance, determining that a first path identifier of a sensing path corresponding to the first echo signal is a first value, where the first value is used to indicate that the sensing path is a LOS path; In a case where the first distance is not equal to the second distance, it is determined that a first path identifier of the sensing path corresponding to the first echo signal is a second value, and the second value is used to indicate that the sensing path is an NLOS path.

2. The perception path recognition method according to claim 1, characterized in that: The N sensing paths include a first sensing path, the first sensing path is a LOS path, and determining a second path identifier of the N sensing paths includes: Calculating a position of a first object on the first sensing path according to an arrival angle and a departure angle of an echo signal corresponding to the first sensing path and a distance between the signal transmitting end and the signal receiving end; Based on a comparison result of the position of the first object and the position of the environmental object, a second path identifier of the first perception path is determined.

3. The perception path recognition method according to claim 2, characterized in that: The determining, based on the comparison result between the position of the first object and the position of the environmental object, the second path identifier of the first perception path includes at least one of the following: In a case where the position of the first object is the same as the position of the environmental object, determining that the second path identifier of the first perception path is a third value, wherein the third value is used to indicate that the first perception path is a single-target path; In a case where the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, and the fourth value is used to indicate that the first perception path is a single environmental object path.

4. The perception path recognition method according to claim 1, characterized in that: The N sensing paths include a second sensing path, where the second sensing path is an NLOS path, and determining the second path identifier of the N sensing paths includes: In the case where the second perception path corresponds to a first relation LOS path and a second relation LOS path, determining that the position of the second object and the position of the third object on the second perception path are respectively the position of the first object on the first relation LOS path and the position of the first object on the second relation LOS path, wherein the first relation LOS path is a LOS path having a departure angle of an echo signal corresponding thereto and a departure angle of an echo signal corresponding to the second perception path being the same, and the second relation LOS path is a LOS path having an arrival angle of an echo signal corresponding thereto and a arrival angle of an echo signal corresponding to the second perception path being the same; Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

5. The perception path recognition method according to claim 1, characterized in that: The N sensing paths include a second sensing path, where the second sensing path is an NLOS path, and determining the second path identifier of the N sensing paths includes: In the case where the second perception path corresponds to the first relation LOS path or the second relation LOS path, determine the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path as the position of the fourth object on the second perception path, wherein the fourth object is one of the second object and the third object, wherein the first relation LOS path is a LOS path whose departure angle of the echo signal corresponding to the first relation LOS path is the same as the departure angle of the echo signal corresponding to the second perception path, and the second relation LOS path is a LOS path whose arrival angle of the echo signal corresponding to the second perception path is the same as the arrival angle of the echo signal corresponding to the second perception path; determining, according to the position of the fourth object and the measurement information of the echo signal corresponding to the second sensing path, the position of another object among the second object and the third object except the fourth object; Based on a comparison result between the position of the second object and the position of the environmental object, and between the position of the third object and the position of the environmental object, a second path identifier of the second perception path is determined.

6. The perceptual path recognition method according to claim 4 or 5, characterized in that: The determining the second path identifier of the second perception path based on the comparison result of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, includes at least one of the following: When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, determining that the second path identifier of the second perception path is a fifth value, and the fifth value is used to indicate that the first segment path of the second perception path is a LOS path, and the second segment path is a NLOS path; In a case where the position of the second object is the same as the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a sixth value, and the sixth value is used to indicate that the first segmented path of the second perception path is an NLOS path, and the second segmented path is a LOS path; In a case where the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, determining that the second path identifier of the second perception path is a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path; When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be an eighth value, and the eighth value is used to indicate that the second perception path is a dual environmental object path.

7. The perception path recognition method according to claim 1, characterized in that: After determining the second path identifiers of the N perception paths, the method further includes: Counting the total number of targets on the N sensing paths; Based on the comparison result between the total number of the targets and the number of the targets to be measured, a resolution adjustment flag of the signal sending end is determined.

8. A sensing path recognition device, characterized in that: The device comprises: A first determination module, configured to determine, according to measurement information corresponding to each of the N echo signals, first path identifiers of N sensing paths corresponding to the N echo signals, wherein the measurement information includes an arrival angle, a departure angle, and a delay of the echo signal, wherein N is a positive integer; A second determination module is configured to determine second path identifiers of the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate an object type of a first object on the sensing path, and the first object is located between a signal transmitting end and a signal receiving end; when the sensing path is a NLOS path, the second path identifier is used to indicate an object type of a second object and an object type of a third object on the sensing path, the second object is located between the signal transmitting end and the third object, the third object is located between the second object and the signal receiving end, and the object type includes a target or an environmental object; The N echo signals include a first echo signal, and the first determination module includes: A first calculation unit, configured to calculate a first distance according to an arrival angle and a departure angle corresponding to the first echo signal, and a distance between the signal transmitting end and the signal receiving end; A second calculation unit, configured to calculate a second distance according to a time delay corresponding to the first echo signal; a first determining unit, configured to determine, when the first distance is equal to the second distance, that a first path identifier of a sensing path corresponding to the first echo signal is a first value, wherein the first value is used to indicate that the sensing path is a LOS path; A second determining unit is configured to determine, when the first distance is not equal to the second distance, that a first path identifier of the perception path corresponding to the first echo signal is a second value, wherein the second value is used to indicate that the perception path is an NLOS path.

9. An electronic device, characterized in that: The electronic device comprises a processor, wherein the processor is configured to: Determine, according to measurement information corresponding to each of the N echo signals, a first path identifier of N sensing paths corresponding to the N echo signals, wherein the measurement information includes an arrival angle, a departure angle, and a delay of the echo signal, wherein N is a positive integer; Determine a second path identifier of the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate an object type of a first object on the sensing path, and the first object is located between a signal transmitting end and a signal receiving end; when the sensing path is a NLOS path, the second path identifier is used to indicate an object type of a second object and an object type of a third object on the sensing path, the second object is located between the signal transmitting end and the third object, the third object is located between the second object and the signal receiving end, and the object type includes a target or an environmental object; The processor is specifically used for: Calculate a first distance according to an arrival angle and a departure angle corresponding to the first echo signal and a distance between the signal transmitting end and the signal receiving end; Calculating a second distance according to a time delay corresponding to the first echo signal; When the first distance is equal to the second distance, determining that a first path identifier of a sensing path corresponding to the first echo signal is a first value, where the first value is used to indicate that the sensing path is a LOS path; In a case where the first distance is not equal to the second distance, it is determined that a first path identifier of the sensing path corresponding to the first echo signal is a second value, and the second value is used to indicate that the sensing path is an NLOS path.

10. An electronic device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the perceptual path identification method as claimed in any one of claims 1 to 7.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the perceptual path identification method according to any one of claims 1 to 7 are implemented.

12. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the perceptual path identification method according to any one of claims 1 to 7.

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