Method and apparatus for integrated resource allocation of communication and sensing based on interference utilization

Abstract

Embodiments of the present application provide a communication and perception integrated resource allocation method and device based on interference utilization. The method comprises: constructing a vehicle perception estimation model, constructing an expression of distance estimation accuracy, angle estimation accuracy and perception estimation position coordinates based on wireless perception principles; constructing a communication and perception integrated vehicle networking downlink transmission model under interference utilization; constructing an interference utilization model between vehicles under communication and perception integration, calculating the signal-to-noise ratio of the received signal of the vehicle in the communication mode and the signal-to-noise ratio of the received signal of the vehicle in the perception mode; based on the results of the vehicle information predicted by the vehicle perception estimation model under interference utilization and the achievable communication rate, calculating the system throughput, and constructing a resource allocation optimization problem with the purpose of maximizing the system throughput, and generating a resource allocation strategy by using an optimization method. The technical scheme of the embodiments of the present application effectively utilizes interference resources, and further ensures the reasonable allocation of communication resources.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer and communication, in particular, to a communication and perception integrated resource allocation method and device based on interference utilization. BACKGROUND

[0002] With the advent of emerging applications such as autonomous driving and Internet of Things (IOT) services, a communication and perception integrated network has also emerged. Due to the advantages of spectrum and hardware resource sharing and the mutual promotion of perception and communication, the communication and perception integrated network is expected to meet the demand for ubiquitous communication and high-precision sensing. However, spectrum sharing will bring mutual interference and thus cause loss of system performance, which seriously affects the development of the communication and perception integrated network.

[0003] In the current technical solution, interference is mostly regarded as a harmful factor. By using interference alignment and other means, the interference is overlapped at the receiving end through precoding technology, so as to compress the signal capacity occupied by the interference, eliminate the influence of the interference on the expected signal, and achieve the purpose of improving the channel capacity. However, the above-mentioned method often sacrifices the spectrum and energy efficiency, resulting in certain resource waste. Therefore, how to effectively utilize the interference resource and thus ensure the reasonable allocation of communication resources has become a technical problem to be solved. SUMMARY

[0004] Embodiments of the present application provide a communication and perception integrated resource allocation method and device based on interference utilization, which can effectively utilize the interference resource and thus ensure the reasonable allocation of communication resources at least to some extent.

[0005] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0006] According to one aspect of an embodiment of the present application, a communication and perception integrated resource allocation method based on interference utilization is provided, comprising:

[0007] constructing a vehicle perception estimation model, and constructing an expression of distance estimation accuracy, angle estimation accuracy, and perception estimation position coordinates based on wireless perception principles;

[0008] constructing a communication and perception integrated vehicle networking downlink transmission model under interference utilization, wherein the communication and perception integrated vehicle networking downlink transmission model comprises one communication and perception integrated base station and at least one vehicle perception terminal;

[0009] constructing an interference utilization model between vehicles under communication and perception integration, and calculating the signal-to-noise ratio of the received signal of the vehicle in the communication mode and the signal-to-noise ratio of the received signal of the vehicle in the perception mode;

[0010] The system throughput is calculated based on the vehicle information predicted by the vehicle perception estimation model and the reachable communication rate under interference utilization, and a resource allocation optimization problem is constructed with the optimization objective of maximizing the system throughput.

[0011] An optimization method is used to generate a resource allocation strategy for the resource allocation optimization problem.

[0012] According to an aspect of an embodiment of the present application, a communication and perception integrated resource allocation device based on interference utilization is provided, comprising:

[0013] A first construction module is configured to construct a vehicle perception estimation model, and construct an expression of distance estimation accuracy, angle estimation accuracy and perception estimation position coordinates based on wireless perception principles;

[0014] A second construction module is configured to construct a communication and perception integrated vehicle networking downlink transmission model under interference utilization, and the communication and perception integrated vehicle networking downlink transmission model comprises a communication and perception integrated base station and at least one vehicle perception terminal;

[0015] A third construction module is configured to construct an interference utilization model between vehicles under communication and perception integrated interference utilization, and calculate the signal-to-noise ratio of a vehicle receiving signal in a communication mode and the signal-to-noise ratio of a vehicle receiving signal in a perception mode;

[0016] A fourth construction module is configured to calculate the system throughput based on the vehicle information predicted by the vehicle perception estimation model and the reachable communication rate under interference utilization, and construct a resource allocation optimization problem with the optimization objective of maximizing the system throughput;

[0017] A processing module is configured to use an optimization method to generate a resource allocation strategy for the resource allocation optimization problem.

[0018] According to an aspect of an embodiment of the present application, a computer readable medium having a computer program stored thereon is provided, and the computer program is executed by a processor to implement the communication and perception integrated resource allocation method based on interference utilization as described in the above embodiments.

[0019] According to an aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the communication and perception integrated resource allocation method based on interference utilization as described in the above embodiments.

[0020] According to an aspect of some embodiments of the present application, a computer program product or computer program is provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the interference exploitation based communication and sensing integrated resource allocation method provided in the above embodiments.

[0021] In the technical solutions provided by some embodiments of the present application, by constructing a vehicle sensing estimation model, based on the wireless sensing principle, an expression of distance estimation accuracy, angle estimation accuracy and sensing estimation position coordinates is constructed, a communication and sensing integrated vehicle networking downlink transmission model under interference exploitation is constructed, the communication and sensing integrated vehicle networking downlink transmission model includes a communication and sensing integrated base station and at least one vehicle sensing terminal, then, a vehicle-to-vehicle interference exploitation model under communication and sensing integrated interference exploitation is constructed, the signal-to-noise ratio of the vehicle receiving signal in the communication mode and the signal-to-noise ratio of the vehicle receiving signal in the sensing mode are calculated, and based on the results of the vehicle information predicted by the vehicle sensing estimation model under interference exploitation and the achievable communication rate, the system throughput is calculated, a resource allocation optimization problem is constructed with the optimization goal of maximizing the system throughput, and a resource allocation strategy is generated by using an optimization method for the resource allocation optimization problem. Therefore, by effectively utilizing the constructive interference resources, the sharing of resources between communication links with smaller transmission power can be realized, the resource utilization rate and the communication system throughput are improved, and the rationality of the communication resource allocation is ensured.

[0022] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The drawings incorporated in the specification and constituting a part of the specification illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings. In the drawings:

[0024] Figure 1 Fig. 1 shows a flowchart of an interference exploitation based communication and sensing integrated resource allocation method according to an embodiment of the present application;

[0025] Figure 2 Fig. 2 shows a block diagram of an interference exploitation based communication and sensing integrated resource allocation apparatus according to an embodiment of the present application;

[0026] Figure 3A structural diagram of a computer system of an electronic device suitable for implementing embodiments of the present application is shown. DETAILED DESCRIPTION

[0027] Example implementations will now be described more fully with reference to the accompanying drawings. Example implementations may, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the scope of example implementations to those skilled in the art.

[0028] Moreover, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the

[0029] The block diagrams in the drawings show only the functionality of the features and can not imply a necessity or particular order of elements. That is, these blocks can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0030] The flow diagrams shown in the drawings are only examples of the flow diagrams and do not necessarily include all of the content and operations / steps, nor do they necessarily need to be performed in the order described. For example, some operations / steps can be further divided, and some operations / steps can be combined or partially combined, so the actual order of execution can be changed according to actual conditions.

[0031] Figure 1 A flow diagram of an interference utilization based communication and perception integrated resource allocation method according to an embodiment of the present application is shown.

[0032] In an example, the method can be applied in a communication and perception integrated base station, i.e., a base station integrating communication and perception functions, which not only can provide traditional wireless communication services (such as data transmission, voice communication, video streaming, etc., supporting various wireless access technologies, including but not limited to 4G, 5G, LTE-V, DSRC, etc.), but also has the ability of environmental perception and information processing, i.e., it can carry various sensors such as radar, camera, infrared sensor, lidar, etc., to monitor and perceive the surrounding environment in real time, including vehicles, pedestrians, obstacles and other important traffic elements.

[0033] In other examples, the method can also be applied to other electronic devices with information transmission, processing and perception functions, and the present application does not make special limitations thereto.

[0034] As shown in Figure 1 The interference-based communication and perception integrated resource allocation method includes at least steps S110 to S150, which are described in detail as follows:

[0035] In step S110, a vehicle perception estimation model is constructed, and expressions of distance estimation accuracy, angle estimation accuracy and perception estimation position coordinates are constructed based on wireless perception principles.

[0036] In this embodiment, the vehicle perception estimation model can estimate the position, speed, angle and other information of the vehicle through wireless signal processing and analysis, i.e., using wireless perception principles to construct mathematical expressions of distance estimation accuracy, angle estimation accuracy and perception estimation position coordinates, thereby achieving accurate perception of the vehicle and its surrounding environment.

[0037] In an embodiment, the vehicle perception estimation model is constructed, and expressions of distance estimation accuracy, angle estimation accuracy and perception estimation position coordinates are constructed based on wireless perception principles, including:

[0038] The communication and perception integrated base station transmits perception signals to the target vehicle through its antennas, and receives perception echoes reflected by the target vehicle;

[0039] The perception echoes are processed and analyzed to determine the distance between the communication and perception integrated base station and the target vehicle, the angle of the target vehicle relative to the communication and perception integrated base station, the information of the environment in which the target vehicle is located, and the relative distance between the target vehicle and other vehicles around it.

[0040] In this embodiment, the target vehicle can be any vehicle within the communication range of the communication and perception integrated base station. The communication and perception integrated base station transmits perception signals to the target vehicle through its antennas, and the target vehicle reflects these signals to form perception echoes, which can be received by the antennas of the communication and perception integrated base station. After receiving the perception echo signals, they can be processed first, such as filtering, demodulation, time delay estimation and other steps. Then the processed signals are analyzed to extract key information, such as signal arrival time, signal strength and signal angle, etc.

[0041] The actual distance between the target vehicle and the communication and perception integrated base station can be calculated by the delay time of the echo signal and the transmission signal and the propagation speed of electromagnetic waves in air. The actual angle between the target vehicle and the base station antenna can be calculated by the phase difference between the echo signals received by multiple antennas. Then, the perception estimated distance corresponding to the target vehicle is determined according to the actual distance and the distance estimation accuracy of the communication and perception integrated base station, and the perception estimated angle corresponding to the target vehicle is determined according to the actual angle and the angle estimation accuracy of the communication and perception integrated base station. Then, the perception estimated position coordinates of the target vehicle are determined according to the perception estimated distance and the perception estimated angle, with the position of the communication and perception integrated base station as the coordinate origin.

[0042] In addition, the clutter of the environment in which the target vehicle is located can also be perceived to obtain environmental information around the target vehicle, such as the position of obstacles, and to determine whether there is an obstacle between the target vehicle and the interference utilizing vehicle. Through clutter estimation, the influence of the surrounding environment on the intensity of the beam can be avoided when the subsequent reflected interference beam is utilized.

[0043] In addition, according to the perception estimated position coordinates corresponding to each vehicle, the relative distance between the target vehicle and other vehicles around it can also be determined for subsequent processing.

[0044] In step S120, a communication and perception integrated vehicle networking downlink transmission model under interference utilization is constructed, which includes one communication and perception integrated base station and at least one vehicle perception terminal.

[0045] In this embodiment, the communication and perception integrated vehicle networking downlink transmission model under interference utilization can include one communication and perception integrated base station and at least one vehicle perception terminal, which can be one, two or any number of more than two, without special limitation. According to the vehicle networking downlink transmission model, the achievable communication rate between the vehicle and the base station link can be calculated.

[0046] Need to be explained, because the interference between vehicles exists the mutual utilization relationship, therefore adopts the mode of relay communication, namely transmits data to the designated vehicle, and indirectly transmits data to the target vehicle by the vehicle.

[0047] In an example, the kth mobile vehicle ve k The transmission rate between the kth mobile vehicle ve

[0048]

[0049] CI 2 +DI 2 =I2 (4)

[0050]

[0051] where W is the transmission bandwidth, SINR CI is the communication-to-interference-plus-noise ratio under interference exploitation; Pve k is the transmit power of ve k , h is the channel gain between ve k and b, d is the distance between ve k and b, a is the path loss exponent, s 2 is the power of additive white Gaussian noise; is the specific expression of the communication channel, is the specific expression of the sensing channel, both of which are used to calculate the signal-to-noise ratio and the interference power; CI is the constructive part of the interference between ve k and ve i , i.e., the vector component in the target direction, DI is the destructive part of the interference between ve k and ve i , i.e., the vertical component in the target direction, G t and G c are the antenna gains of the transmitter and the receiver, l is the antenna wavelength, G τ is the gain of the radar receiver, s is the radar scattering cross section parameter, p com is the communication channel coefficient, p rad is the sensing channel coefficient.

[0052] Please continue to refer to Figure 1 , in step S130, an interference exploitation model of the communication-sensing integrated vehicles under interference exploitation is constructed, and the signal-to-noise ratio of the vehicle receiving signal under the communication mode and the signal-to-noise ratio of the vehicle receiving signal under the sensing mode are calculated.

[0053] It should be understood that when a single communication or sensing function is implemented under different time slots, the signal-to-interference-plus-noise ratio expressions are the same, i.e., the communication and sensing functions are distinguished by different time slots, and the channel gains of the communication and sensing are different.

[0054] In an embodiment, the interference exploitation-based communication-sensing integrated resource allocation method further comprises:

[0055] In the vehicle radar sensing process, according to the vehicle sensing estimation model, for the target vehicle, at least part of the vehicles located around the target vehicle are selected as interference exploitation vehicles on the basis of meeting the sensing performance index of the target vehicle, and the reflected radar interference signals of the interference exploitation vehicles are taken as useful interference signals;

[0056] The vehicle perception estimation model is used to predict other vehicles located around the target vehicle at the next time slot, so as to adjust the interference utilization vehicles and the corresponding reflected radar interference signals.

[0057] In this embodiment, in the vehicle radar perception process, according to the vehicle perception estimation model, at least part of the vehicles around the target vehicle are selected as the interference utilization vehicles on the basis of meeting the target vehicle CRB, and the reflected radar interference signals of the interference utilization vehicles are the useful interference, which is used to improve the radar signal-to-interference-and-noise ratio of the target vehicle. Meanwhile, in the next time slot, the vehicle perception estimation model is used to predict other vehicles located around the target vehicle at the next time slot, so as to adjust the selected interference utilization vehicles and the corresponding reflected radar beams, so as to ensure the stability and consistency of the relative distance and angle of the target vehicle and the interference utilization vehicles, and effectively improve the radar signal-to-interference-and-noise ratio of the target vehicle in the next time slot.

[0058] In an embodiment, when the interference utilization vehicles are selected, the following steps are included:

[0059] From the other vehicles within the target vehicle's line of sight range, the reflected radar interference signals with the same perception angle as the target vehicle are selected as the useful interference signals, wherein the search for the interference utilization vehicles is stopped when the number of the interference utilization vehicles reaches a threshold, when the signal-to-noise ratio of the target vehicle reaches a predetermined requirement, and / or when the search time exceeds a certain length of time.

[0060] In this embodiment, the line of sight (LOS) refers to a straight line path between two objects without any obstruction, that is, the signal can be directly transmitted from the transmitting end to the receiving end without being blocked by obstacles. According to the relative distance between the target vehicle and other vehicles located around it, other vehicles located within the target vehicle's line of sight range can be determined. The other vehicles located within the target vehicle's line of sight range are searched. It should be noted that searching within the target vehicle's line of sight range can reduce the size of the beam amplitude of the subsequently determined interference utilization vehicles weakened by environmental obstruction.

[0061] If the reflected radar interference signal of a certain other vehicle is the same as the perception angle of the target vehicle, it can be determined as the interference utilization vehicle, and the reflected radar interference signal of the interference utilization vehicle is the useful interference signal. When selecting the interference utilization vehicle, the reflected perception clutter of part of the surrounding other vehicles is reduced, and the perception performance index of the other vehicles is not affected, that is, the reflected radar interference signal consistent with the target vehicle's perception angle is selected as much as possible, and the reflected radar interference signal orthogonal to the target vehicle's perception angle is reduced.

[0062] And, in the search process, if the number of interference exploiting vehicles determined in advance has reached a predetermined threshold, when the signal-to-noise ratio of the target vehicle reaches a predetermined requirement (i.e., reaches a certain threshold), and / or when the search time exceeds a certain length of time, the search for interference exploiting vehicles can be stopped, thereby effectively reducing the computational complexity and transmission power.

[0063] It should be noted that "and / or" described in the present application means that the above three conditions can be used alone or in combination, and the present application does not specially limit this.

[0064] In an example, the environmental clutter can also be orthogonally decomposed along the communication beam direction of the target vehicle, and the clutter exploitation can be performed on a pair of orthogonal vehicle communication signal-to-interference-and-noise ratios, thereby fully utilizing the environmental clutter.

[0065] Please continue to refer to Figure 1 In step S140, based on the results of the vehicle information predicted by the interference exploiting downlink vehicle perception estimation model and the achievable communication rate, the system throughput is calculated, and a resource allocation optimization problem is constructed with the optimization goal of maximizing the system throughput.

[0066] In this embodiment, for the current target vehicle, to achieve reasonable allocation of communication and perception resources, the common communication and perception signal-to-interference-and-noise ratios of other vehicles around the target vehicle can be considered, i.e., for the throughput or QoS of the entire system, through a graph theory-based resource allocation method for Internet of Vehicles, interference beam multiplexing is utilized, and vehicle trajectories and unnecessary vehicle perception weights are jointly considered, while ensuring the reliability of vehicle links, the distributed robustness of the entire Internet of Vehicles system is improved, the downlink throughput is improved, and the reasonable allocation of communication and perception resources of the entire system is realized.

[0067] The goal is to improve the system gain within a certain transmission power requirement, i.e., to improve the throughput and improve the environmental perception accuracy of the system. Thus, the system throughput can be calculated based on the vehicle information predicted by the interference exploiting downlink vehicle perception estimation model and the achievable communication rate, and a resource allocation optimization problem is constructed with the optimization goal of maximizing the system throughput, wherein the vehicle information can include but is not limited to the distance between the target vehicle and the interference exploiting vehicle and the beam angle of the interference exploiting vehicle relative to the communication and perception integrated base station and the target vehicle.

[0068] Specifically, first, the target vehicle is sent a perception signal by the communication-perception-integrated base station and its reflected echo is received. Through processing and analysis of the echo, the system can obtain key position parameters of the vehicle, such as distance, angle, etc. Distance and angle estimates are calculated through time delay and phase difference, and based on the vehicle's historical position information and motion trajectory, the motion model (such as Kalman filter or deep learning prediction model) is used to dynamically predict the position and pose of the vehicle at future time. When predicting the next time slot, the information of other vehicles around is updated based on the vehicle motion trajectory and distance model, providing a reference for the next time slot interference selection. In this way, the selection of interference vehicles can be dynamically adjusted to ensure the real-time performance of system interference utilization.

[0069] For each vehicle with task offloading, the communication signal-to-interference-and-noise ratio (SINR) is calculated in the channel model. SINR is affected by factors such as transmission bandwidth, interference utilization signal, noise power, etc.:

[0070]

[0071] where: P t is the transmit power; h is the channel gain; N0 is the Gaussian white noise power; I represents the destructive interference part, which can be adjusted to beneficial interference component through precoding.

[0072] Based on Shannon's law, the achievable communication rate between the vehicle and the base station is calculated:

[0073] R = W·log2(1 + SINR CI ) (7)

[0074] This formula determines the data transmission rate between the base station and each vehicle, which can be dynamically adjusted to match system load and vehicle speed changes.

[0075] Single-vehicle system throughput: The individual throughput of each vehicle is the achievable communication rate of that vehicle, taking into account the interference from other vehicles.

[0076] For multi-vehicle interference scenarios, the total system throughput can be represented as the sum of the throughputs of each vehicle:

[0077]

[0078] When calculating the system throughput, the goal is to maximize the system throughput, and through resource allocation optimization (such as resource allocation method based on graph theory) to ensure reasonable allocation of resources between vehicles, ensure reasonable coverage of channel and interference beams in space, thereby improving the overall throughput and resource utilization efficiency of the system.

[0079] Need to explain, for a single target vehicle, due to the existence of interference utilization, under the required target signal-to-noise ratio, less communication resources can be used, thereby reducing the overhead of communication resources; On the other hand, due to the reduction of communication resources, more sensing resources can be used on the target vehicle, thereby obtaining more sensing accuracy of the vehicle, that is, the improvement of sensing accuracy can obtain more CSI information, so that the estimation of the communication channel is more accurate, and the trade-off between communication and sensing is achieved.

[0080] For multiple target vehicles, on the one hand, the existence of interference utilization can effectively improve the utilization rate of resources, that is, the originally calculated interference resources are converted into useful power of other vehicles; On the other hand, through interference utilization, the interference between vehicles is coordinated to a certain extent, the cooperative communication and sensing ability between vehicles is improved, and the system gain is improved.

[0081] In an example, it is assumed that in a vehicle networking environment, a communication and sensing integrated base station needs to communicate with multiple vehicles at the same time, each vehicle is equipped with a sensing device (such as radar) to sense adjacent vehicles, and transmit sensing data in the downlink. The communication resources and interference environment of the base station and the vehicle will change dynamically with the movement of the vehicle, so the system resources need to be optimized to maximize throughput and reliability.

[0082] It is assumed that in this scenario there are 5 vehicles (C1, C2, C3, C4, C5) and a communication and sensing integrated base station (B), C1 and C2 are within the line-of-sight range of the base station, and C3, C4, C5 are partially blocked. The base station obtains the dynamic information of each vehicle through real-time monitoring and echo processing.

[0083] Using the link between the base station and C1, C2 (within the line-of-sight range), the base station can directly obtain the channel parameters through sensing echoes. The interference signal utilization of C3, C4, C5 needs to be processed through reflection information.

[0084] Based on interference alignment and constructive interference conversion, the interference signals of C1 and C2 to the base station are converted into constructive interference beneficial to the base station through precoding, and the signal-to-noise ratio of C1 and C2 is improved.

[0085] For non-line-of-sight vehicles C3, C4, C5, by selecting interference signals with the same sensing angle, the line-of-sight angle interference is converted into beneficial signals to improve channel utilization.

[0086] Using the aforementioned SINR formula, the base station calculates the channel of each vehicle respectively. It is assumed that the transmission bandwidth W = 20MHz, and the vehicle transmit power Pt = 0.1W.

[0087] For C1 and C2:

[0088]

[0089] R C1 = W log2(1 + SINR C1 )

[0090] For C3, C4, C5, calculate SINR and communication rate respectively, and improve the effective communication rate of the channel by adjusting its constructive interference component.

[0091] Optimize system throughput:

[0092] System optimization goal: maximize

[0093] By optimizing resource allocation, the base station allocates resources reasonably according to the positions and interference of each vehicle. More resources are allocated to C1 and C2 (because their channel quality is high within the line-of-sight range), and the interference temperature is adjusted for C3, C4, and C5, and interference utilization vehicles are selected and the number of interferences is limited to reduce resource consumption and computational complexity.

[0094] Graph theory resource allocation: use a graph theory model to treat vehicles as nodes, use edge weights to represent link signal-to-noise ratio, and use the maximum flow algorithm to optimize resource allocation paths to ensure that the throughput of each vehicle is maximized while meeting the reliability of communication and perception.

[0095] By optimizing resource allocation, the base station allocates resources reasonably according to the positions and interference of each vehicle. More resources are allocated to C1 and C2 (because their channel quality is high within the line-of-sight range), and the interference temperature is adjusted for C3, C4, and C5, and interference utilization vehicles are selected and the number of interferences is limited to reduce resource consumption and computational complexity.

[0096] Graph theory resource allocation: use a graph theory model to treat vehicles as nodes, use edge weights to represent link signal-to-noise ratio, and use the maximum flow algorithm to optimize resource allocation paths to ensure that the throughput of each vehicle is maximized while meeting the reliability of communication and perception.

[0097] In this way, through this resource allocation and interference utilization scheme, C1 and C2 obtain higher signal-to-noise ratio, while the interference signals of C3, C4, and C5 are effectively utilized, ultimately improving the overall throughput and communication efficiency of the system. In a dynamic environment, the system can adjust the interference temperature and resource allocation according to the position information and perception data of each vehicle to ensure the real-time performance and stability of the entire Internet of Vehicles system.

[0098] Please continue to refer to Figure 1 In step S150, an optimization method is used to generate a resource allocation strategy for the resource allocation optimization problem.

[0099] In this embodiment, an optimization method is used to generate a resource allocation strategy for resource allocation problems, which can include but is not limited to graph-based methods, matching algorithms, or reinforcement learning, etc. Through the coordination of interference utilization between multiple vehicles, the communication and sensing resource allocation is carried out by the communication and sensing integrated base station. Considering the priority of meeting the CRB, the surrounding interference is effectively utilized to improve the communication signal-to-noise ratio, minimize the energy consumption of the base station, and realize the cooperative gain of the system, that is, the more interference, the better the cooperative effect, and the system gain is improved. Interference reuse can be achieved, that is, the interference utilization gain of multi-point cooperation is achieved.

[0100] In some embodiments of the present application, it also includes:

[0101] For the communication and sensing beams of the target vehicle, the relative positions of other vehicles around the target vehicle and the target vehicle are determined through vector modeling and environmental perception;

[0102] Based on the constraints of system throughput and interference beam strength, the position information of the target interference utilization point is determined, and the interference utilization vehicles are searched within the predetermined range of the target utilization point;

[0103] The reflected radar interference signal of the selected interference utilization vehicle is orthogonally decomposed along the target beam, and the beam in another direction is utilized to the vehicle orthogonal to the target vehicle to improve the gain of multi-vehicle interference utilization.

[0104] In this embodiment, by coordinating the interference beams between multiple vehicles, through vector modeling and environmental perception, suitable interference utilization vehicles can be found and the efficiency of interference utilization can be improved under certain system throughput. In an example, a spatial coordinate system can be established around the target vehicle, the coordinates of other vehicles around the target vehicle are obtained through radar perception, and the beams of suitable interference utilization vehicles are selected through the aforementioned selection principles of interference utilization vehicles. Through precoding means, interference utilization is realized, and the signal-to-interference-and-noise ratio of the target signal is improved.

[0105] Specifically, first, the system throughput and interference strength are preliminarily screened:

[0106] Throughput constraint: when preliminarily screening the interference utilization point, the system first calculates the achievable communication rate of each vehicle and ensures that the minimum system throughput requirement is met. The base station will screen out those vehicles that contribute more to the system throughput as potential interference utilization points.

[0107] Interference strength screening: to reduce unnecessary calculation and signal attenuation, the system excludes those vehicles that are subject to strong destructive interference in the preliminary screening, that is, only vehicles with high interference signal strength and positive contribution to the signal-to-noise ratio of the target vehicle are retained.

[0108] Determination of optimal interference utilization point position:

[0109] LOS and perception angle matching: Select vehicles within the LOS range as the preferred interference utilization point. The base station analyzes the perception angles of the target vehicle and surrounding vehicles through the perception model, and preferentially selects vehicles with the same perception angle as the target vehicle, ensuring minimal loss of interference signals on the transmission path.

[0110] Spatial orthogonal decomposition: After obtaining the candidate interference utilization point, the base station performs spatial orthogonal decomposition on the interference signal. The vector of the interference signal is decomposed along the beam direction of the target vehicle, and the component along the direction of the target vehicle is considered as constructive interference, while the signal components in other directions are redistributed to neighboring vehicles at different angles to achieve gain support for multiple vehicles.

[0111] Optimal selection based on vehicle distance and channel gain:

[0112] Distance and channel gain calculation: When selecting interference utilization points, the system will prefer vehicles with shorter distances and higher channel gains to ensure effective signal transmission and interference utilization effect.

[0113] Set distance threshold d th and channel gain threshold h th Select vehicles that satisfy d th and h th as candidates.

[0114] Orthogonalized interference beam utilization: For the selected vehicles, the base station will further orthogonalize their interference signals along the target beam direction, and use the components in other directions for other vehicle signal transmission, further improving the proportion of constructive interference of the signal.

[0115] In some embodiments of the present application, it further includes:

[0116] Compare the current available interference beam strength with the preset interference temperature threshold. If it exceeds the interference temperature threshold, reduce the proportion of interference utilization factor and increase the proportion of interference cancellation;

[0117] According to the target performance index factor, dynamically adjust the interference temperature threshold.

[0118] In this embodiment, the interference beam strength refers to the beam strength that is consistent with the target vehicle's perception angle after orthogonal decomposition. The receiver's interference temperature quantifies and manages the interference sources in the wireless communication environment. The current available interference beam strength is compared with the preset interference temperature threshold. If the interference beam strength exceeds the interference temperature threshold, i.e., the interference utilization affects the system's robustness, the proportion of the interference utilization factor is reduced, and the proportion of interference cancellation is increased. It should be understood that the purpose of interference utilization is to affect the reliability of transmission between vehicles and the real-time nature of data.

[0119] It should be noted that the interference utilization factor defines the extent to which the system considers interference signals as useful signals for utilization. Its functions include:

[0120] Adjusting the constructive utilization of interference signals: The interference utilization factor can control the proportion of interference signals processed, determining how many interference signals in the system will be converted into constructive interference (i.e., signals beneficial to the target vehicle).

[0121] Dynamic balance of system robustness and efficiency: Under different communication and perception task requirements, the interference utilization factor can be adjusted flexibly. When the system requires high signal-to-noise ratio or strong communication reliability, the factor can be adjusted lower to reduce dependence on interference signals, and vice versa to increase system throughput.

[0122] Control resource allocation priority: By increasing or decreasing interference utilization, the factor can adjust the priority of system resource allocation, ensuring reliability while improving resource utilization efficiency.

[0123] When reducing the interference utilization factor, the system will reduce the proportion of interference signals utilized as constructive interference, which will result in the following:

[0124] Reducing dependence on interference signals: Reducing the factor means that the system is more inclined to consider interference signals as destructive interference when receiving them, so it will actively take measures to reduce the negative impact of the interference signal on communication. Such measures can include interference alignment, filtering, and precoding, and other interference suppression techniques.

[0125] Increasing resource and strategy investment for interference cancellation: With the reduction of the interference utilization factor, the system allocates more computing and resources to interference cancellation strategies to suppress interference signals that have a negative impact on the system. For example, by adjusting the beam direction and alignment, the interference signals are superimposed without affecting the quality of the target signal, effectively improving the communication reliability of the system.

[0126] Improving system robustness: When the strength of interference signals is too large or the dynamic environment is complex, reducing the interference utilization factor can help the system better cope with complex interference environments, ensuring the stability and safety of communication links.

[0127] And, based on the system task quality of service, communication signal to interference and noise ratio and target performance index factors such as perception performance index, the interference temperature threshold can be dynamically adjusted, so as to better balance the reliability and timeliness of data transmission. For example, when the security weight of the data file is high, the current interference temperature threshold can be adjusted, that is, from the perspective of system stability, the proportion of interference utilization is reduced, and then interference elimination and other means are used to realize the safe transmission of data; on the contrary, when the data file has high timeliness requirement, the interference utilization proportion can be increased by adjusting the interference temperature threshold, so as to ensure the timeliness of data transmission as much as possible.

[0128] In an example, based on different modulation means taken by the receiver, multiple interference temperature thresholds can be set to adapt to the requirements of corresponding system signal to interference and noise ratio, so as to effectively realize the minimum signal to interference and noise ratio requirement under the required throughput of the system, and improve the sensitivity of the receiver to interference utilization.

[0129] Therefore, based on the foregoing embodiments, the communication and perception integrated resource allocation method based on interference utilization provided by the present application can utilize the communication interference between vehicles with the same frequency to effectively improve the signal to noise ratio of the received signal. On this basis, the vehicle position information is estimated and predicted through the wireless perception capability, so as to dynamically adjust the beam angle of the transmitting end. The resource sharing between communication links under the condition of small transmitting power can be realized, the resource utilization rate and the throughput of the communication system are improved, the idea of green communication is embodied, and the model of perception and communication signal to interference and noise ratio is optimized.

[0130] And, by coordinating the interference beams between multiple vehicles and through vector modeling, the vehicle and the interference beam that are most suitable for the current target vehicle for optimal interference utilization can be found out under the condition that the system achieves a certain throughput, so as to improve the effectiveness of interference utilization and the interference coordination between multiple vehicles.

[0131] Furthermore, by setting the interference temperature threshold, the dynamic reliable interference temperature threshold can be set according to the weight of the reliability and timeliness of different data files and the limitation of system indicators such as communication and perception, so as to more flexibly realize the application of the concept of interference utilization in system resource scheduling. On the other hand, different multi-threshold sensitivities can be set for different modulation modes, so as to realize a flexible interference management mechanism.

[0132] The device embodiments of the present application are introduced below, which can be used to execute the communication and perception integrated resource allocation method based on interference utilization in the foregoing embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the foregoing embodiments of the communication and perception integrated resource allocation method based on interference utilization.

[0133] Figure 2A block diagram of an interference exploitation based communication and perception integrated resource allocation apparatus is shown according to an embodiment of the present application.

[0134] Referring to Figure 2 The interference exploitation based communication and perception integrated resource allocation apparatus according to an embodiment of the present application includes:

[0135] A first constructing module is configured to construct a vehicle perception estimation model, and construct expressions of distance estimation accuracy, angle estimation accuracy and perception estimation position coordinates based on a wireless perception principle;

[0136] A second constructing module is configured to construct a communication and perception integrated vehicle networking downlink transmission model under interference exploitation, and the communication and perception integrated vehicle networking downlink transmission model includes a communication and perception integrated base station and at least one vehicle perception terminal;

[0137] A third constructing module is configured to construct an interference exploitation model between vehicles under communication and perception integration, and calculate a signal-to-noise ratio of a vehicle received signal in a communication mode and a signal-to-noise ratio of a vehicle received signal in a perception mode;

[0138] A fourth constructing module is configured to calculate system throughput based on a result of vehicle information predicted by the vehicle perception estimation model under interference exploitation and an achievable communication rate, and construct a resource allocation optimization problem with the purpose of maximizing system throughput;

[0139] A processing module is configured to generate a resource allocation strategy by using an optimization method for the resource allocation optimization problem.

[0140] In some embodiments of the present application, the vehicle perception estimation model is constructed, and expressions of distance estimation accuracy, angle estimation accuracy and perception estimation position coordinates are constructed based on a wireless perception principle, including:

[0141] The perception signal is transmitted to a target vehicle by an antenna of the communication and perception integrated base station, and a perception echo reflected by the target vehicle is received;

[0142] The perception echo is processed and analyzed to determine a distance between the communication and perception integrated base station and the target vehicle, an angle of the target vehicle relative to the communication and perception integrated base station, information of an environment in which the target vehicle is located, and relative distances between the target vehicle and other vehicles around the target vehicle

[0143] In some embodiments of the present application, the processing module is further configured to:

[0144] In the vehicle radar sensing process, according to the vehicle sensing estimation model, for a target vehicle, at least part of vehicles located around the target vehicle are selected as interference utilization vehicles on the basis of meeting the sensing performance index of the target vehicle, and the reflected radar interference signals of the interference utilization vehicles are taken as useful interference signals.

[0145] Other vehicles located around the target vehicle in the next time slot are predicted by using the vehicle sensing estimation model, so as to adjust the interference utilization vehicles and the corresponding reflected radar interference signals.

[0146] In some embodiments of the present application, when the interference utilization vehicles are selected, the following are included:

[0147] From other vehicles within the target vehicle's line-of-sight range, reflected radar interference signals with the same sensing angle as the target vehicle are selected as useful interference signals, wherein the search for interference utilization vehicles is stopped when the number of interference utilization vehicles reaches a threshold, when the signal-to-noise ratio of the target vehicle meets a predetermined requirement, and / or when the search time exceeds a certain length of time.

[0148] In some embodiments of the present application, the processing module is further configured to:

[0149] For the communication and sensing beams of the target vehicle, the relative positions of other vehicles around the target vehicle and the target vehicle are determined through vector modeling and environmental sensing;

[0150] Based on the constraints of system throughput and interference beam strength, the position information of the target interference utilization point is determined, and the interference utilization vehicles are searched within a predetermined range of the target utilization point;

[0151] The reflected radar interference signals of the selected interference utilization vehicles are orthogonally decomposed along the target beam, and the beams in another direction are utilized to vehicles that are orthogonal to the target vehicle, so as to improve the gain of multi-vehicle interference utilization.

[0152] In some embodiments of the present application, the processing module is further configured to compare the currently available interference beam strength with a preset interference temperature threshold, and if it exceeds the interference temperature threshold, reduce the proportion of the interference utilization factor and increase the proportion of the interference elimination.

[0153] The interference temperature threshold is dynamically adjusted according to the target performance index factor.

[0154] Figure 3 A structural schematic diagram of a computer system of an electronic device suitable for implementing embodiments of the present application is shown.

[0155] It should be noted that, Figure 3The computer system of the electronic device shown is merely one example, and should not bring any limitation to the functions and usage range of the embodiments of the present application.

[0156] As shown in Figure 3 the computer system includes a central processing unit (CPU) 301 which can perform various appropriate actions and processes in accordance with a program stored in a read-only memory (ROM) 302 or a program loaded from a storage section 308 into a random access memory (RAM) 303, such as performing the methods described in the above embodiments. In the RAM 303, various programs and data required for the operation of the system are also stored. The CPU 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0157] The following components are connected to the I / O interface 305: an input section 306 including a keyboard, a mouse, etc.; an output section 307 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the I / O interface 305 as necessary. A removable recording medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 310 as necessary, so that a computer program read therefrom is installed into the storage section 308 as necessary.

[0158] In particular, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, the embodiments of the present application include a computer program product including a computer program carried on a computer-readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication section 309, and / or installed from the removable recording medium 311. When the computer program is executed by the central processing unit (CPU) 301, various functions defined in the system of the present application are performed.

[0159] It should be noted that the computer-readable medium in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus or device. In this application, the computer-readable signal medium can include a data signal carrying computer-readable computer programs in a baseband or as a part of a carrier wave. Such a propagated data signal can take on various forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium that can transmit, propagate or transport programs for use by or in connection with an instruction execution system, apparatus or device. The computer programs contained in the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination thereof.

[0160] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In the flowcharts or block diagrams, each block can represent a module, a program segment or a part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different orders than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the involved functions. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0161] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described can also be located in a single processor. In some cases, the names of the units do not limit the units themselves.

[0162] As another aspect, the present application provides a computer readable medium, which can be included in the electronic device described in the above embodiments, or can exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement the method described in the above embodiments.

[0163] It should be noted that although several modules or units for performing actions are mentioned in the above detailed description, the division into the modules or units is not mandatory. In fact, according to the embodiments of the present application, features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, features and functions of one module or unit described above can be further divided into a plurality of modules or units.

[0164] From the above description of the embodiments, those skilled in the art will readily appreciate that the example embodiments described herein can be implemented by software and / or by hardware coupled with software. Accordingly, the technical solutions of the embodiments of the present application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, U disk, mobile hard disk, etc.) or network, and includes a number of instructions to make a computing device (which can be a personal computer, server, touch terminal, or network device, etc.) execute the methods according to the embodiments of the present application.

[0165] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the application pertains.

[0166] It should be understood that the present application is not limited to the precise construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present application. The scope of the present application is limited only by the appended claims.

Claims

1. A method for integrated resource allocation based on interference exploitation and communication awareness, characterized in that, The method comprises the following steps: constructing a vehicle perception estimation model, and constructing expressions of distance estimation accuracy, angle estimation accuracy, and perception estimation position coordinates based on wireless perception principles; constructing a communication and perception integrated vehicle networking downlink transmission model under interference utilization, wherein the communication and perception integrated vehicle networking downlink transmission model comprises at least one communication and perception integrated base station and at least one vehicle perception terminal; constructing an interference utilization model between vehicles under communication and perception integration, and calculating signal-to-noise ratios of received signals of vehicles in a communication mode and signal-to-noise ratios of received signals of vehicles in a perception mode; comparing a currently available interference beam intensity with a preset interference temperature threshold value, and if the interference beam intensity exceeds the interference temperature threshold value, reducing a proportion of an interference utilization factor and increasing a proportion of interference elimination; dynamically adjusting the interference temperature threshold value according to a target performance index factor; calculating system throughput based on results of vehicle information predicted by the vehicle perception estimation model under interference utilization and achievable communication rates, and constructing a resource allocation optimization problem with the purpose of maximizing system throughput; generating a resource allocation strategy by using an optimization method for the resource allocation optimization problem.

2. The method of claim 1, wherein, The method comprises the following steps: transmitting a perception signal to a target vehicle through an antenna of a communication and perception integrated base station, and receiving a perception echo reflected by the target vehicle; processing and analyzing the perception echo to determine a distance between the communication and perception integrated base station and the target vehicle, an angle of the target vehicle relative to the communication and perception integrated base station, information of an environment in which the target vehicle is located, and relative distances between the target vehicle and other vehicles around the target vehicle.

3. The method of claim 1, wherein, The method further comprises the following steps: in a vehicle radar perception process, selecting at least part of vehicles around a target vehicle as interference utilization vehicles on the basis of satisfying a perception performance index of the target vehicle, and taking reflected radar interference signals of the interference utilization vehicles as useful interference signals according to the vehicle perception estimation model; predicting other vehicles around the target vehicle in a next time slot by using the vehicle perception estimation model to adjust the interference utilization vehicles and corresponding reflected radar interference signals.

4. The method of claim 3, wherein, When the interference utilization vehicles are selected, the following steps are included: selecting reflected radar interference signals with the same perception angle as the target vehicle from other vehicles within a line-of-sight range of the target vehicle as useful interference signals, wherein the search for the interference utilization vehicles is stopped when the number of the interference utilization vehicles reaches a threshold value, when a signal-to-noise ratio of the target vehicle reaches a predetermined requirement, and / or when a search time exceeds a certain length of time.

5. The method of claim 1, wherein, The method further comprises the following steps: determining relative positions of other vehicles around a target vehicle and the target vehicle through vector modeling and environment perception for communication and perception beams of the target vehicle; determining position information of a target interference utilization point based on constraints of system throughput and interference beam intensity, and searching for interference utilization vehicles within a predetermined range of the target interference utilization point. The selected interference utilization vehicle's reflected radar interference signal is orthogonally decomposed along the target beam, and another direction's beam is utilized on the vehicle orthogonal to the target vehicle to improve the gain of multi-vehicle interference utilization.

6. An apparatus for interference exploitation based communication-cognitive integrated resource allocation, comprising: The method comprises: A first construction module is configured to construct a vehicle perception estimation model, and construct an expression of distance estimation accuracy, angle estimation accuracy and perception estimation position coordinates based on a wireless perception principle; A second construction module is configured to construct a communication and perception integrated vehicle networking downlink transmission model under interference utilization, and the vehicle networking downlink transmission model comprises a communication and perception integrated base station and at least one vehicle perception terminal; A third construction module is configured to construct an interference utilization model between vehicles under communication and perception integrated interference utilization, and calculate a signal-to-noise ratio of a vehicle received signal in a communication mode and a signal-to-noise ratio of a vehicle received signal in a perception mode; The currently available interference beam intensity is compared with a preset interference temperature threshold value, and if it exceeds the interference temperature threshold value, the proportion of the interference utilization factor is reduced, and the proportion of the interference elimination is increased; The interference temperature threshold value is dynamically adjusted according to a target performance index factor; A fourth construction module is configured to calculate system throughput based on a result of vehicle information predicted by the vehicle perception estimation model under interference utilization and an achievable communication rate, and construct a resource allocation optimization problem with the purpose of maximizing system throughput; A processing module is configured to generate a resource allocation strategy by using an optimization method for the resource allocation optimization problem.

7. The apparatus of claim 6, wherein, The processing module is further configured to: In a vehicle radar perception process, at least part of vehicles located around a target vehicle are selected as interference utilization vehicles based on the vehicle perception estimation model and the target vehicle's perception performance index, and reflected radar interference signals of the interference utilization vehicles are used as useful interference signals; Other vehicles located around the target vehicle in a next time slot are predicted by using the vehicle perception estimation model, so as to adjust the interference utilization vehicles and corresponding reflected radar interference signals.

8. A computer readable medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to realize the interference utilization based communication and perception integrated resource allocation method in any one of claims 1 to 5.

9. An electronic device, comprising: The method comprises: One or more processors; A storage device is configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the interference utilization based communication and perception integrated resource allocation method in any one of claims 1 to 5.

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