Perception method, communication device and storage medium

Abstract

Provided are a sensing method, a communication device and a storage medium, the method comprising: receiving a first parameter of a first target sent by a second network device, the first parameter comprising a first distance; determining a sensing distance range of the first network equipment based on the first distance of the first target; under the condition that the second reflection signal is received, sensing measurement is carried out in the sensing distance range, and a second parameter of the first target is determined; the second parameter comprises a target distance, the target distance of the first target is the sum of a second distance of the first target and a third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, and the third distance of the first target is the distance from the first target to the second network device; the sensing measurement range of the first network equipment can be narrowed, so that the sensing measurement calculation complexity is reduced, the sensing duration is shortened, and the sensing efficiency is improved.

Description

Technical Field

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

[0002] The synaesthesia integration system can be understood as a system that integrates communication and target perception, which can realize both communication and target perception. The dual-base synaesthesia integration system can perceive through a dual-base mode, and generally may include a first network device and a second network device. For example, the second network device can send a perception signal to perform target perception measurement to obtain the distance between the target and the target. The first network device can perform target perception measurement based on the reflected signal of the perception signal sent by the second network device that is reflected by the target and reaches the first network device to obtain the distance of the target. The obtained distance is the sum of the distance from the second network device to the target and the distance from the target to the first network device, thereby realizing dual-base perception.

[0003] However, in the process of the first network device performing perception measurement to obtain the distance of the target, the perception measurement is performed within the maximum perception range that the first network device can perceive to obtain the distance of the target. The calculation complexity is large and the time required to achieve target perception is long, resulting in poor perception efficiency. Summary of the invention

[0004] The embodiments of the present application provide a perception method, a communication device and a storage medium to solve the problem of poor perception efficiency.

[0005] The present application provides a sensing method, which is applied to a first network device, and the method includes:

[0006] Receive a first parameter of a first target sent by a second network device, where the first parameter includes a first distance; wherein the first distance of the first target is a distance between the first target and the second network device obtained by sensing and measuring after the second network device receives the first reflected signal;

[0007] Determining a sensing distance range of the first network device based on a first distance of the first target;

[0008] When the second reflected signal is received, perception measurement is performed within the perception distance range to determine the second parameter of the first target; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance of the first target and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is a signal of the perception signal sent by the second network device reaching the first network device after being reflected by the first target.

[0009] In one embodiment, when the second reflected signal is received, performing perception measurement within the perception distance range to determine the second parameter of the first target includes:

[0010] Determine a modulation symbol matrix according to the second reflected signal and the perception signal, wherein the dimension of the modulation symbol matrix is ​​N f Row N t Column, the N f is the number of subcarrier samples, the N t is the number of OFDM symbol samples;

[0011] Performing an inverse discrete Fourier transform IDFT on the column vector of the modulation symbol matrix to obtain a first matrix, where the dimension of the first matrix is ​​the same as the dimension of the modulation symbol matrix;

[0012] Determining a target row number range according to the sensing distance range;

[0013] Performing a discrete Fourier transform DFT on the target row vector in the first matrix to obtain a second matrix, wherein the number of columns of the second matrix is ​​the same as the number of columns of the modulation symbol matrix, the number of rows of the second matrix is ​​the number of rows of the target row vector, and the row sequence number in the second matrix is ​​the same as the row sequence number of the target row vector, the second matrix is ​​a matrix representing the relationship between speed and distance, and the target row vector is a row vector within the target row sequence number range;

[0014] The second parameter is determined according to the second matrix.

[0015] In one embodiment, the lower limit of the sensing distance range is the fourth distance, the upper limit of the sensing distance range is the fifth distance, the lower limit of the target row number range is the first row number, and the upper limit of the target row number range is the second row number;

[0016] Determining the target row sequence number range according to the sensing distance range includes:

[0017] Determining the first row sequence number according to the fourth distance and a pre-acquired distance resolution;

[0018] The second row number is determined according to the fifth distance and the distance resolution.

[0019] In one embodiment, the first row serial number is a result of dividing the fourth distance by the distance resolution and rounding down;

[0020] The second row serial number is a result of dividing the fifth distance by the distance resolution and rounding up.

[0021] In one embodiment, determining the second parameter according to the second matrix includes:

[0022] Determining peak points in the second matrix;

[0023] According to the speed of light, the pre-acquired subcarrier spacing, the N f and the column number corresponding to the peak point, determine the target distance of the target corresponding to the peak point, and the target corresponding to the peak point includes the first target.

[0024] In one embodiment, the second parameter further comprises a second speed;

[0025] The determining the second parameter according to the second matrix further includes:

[0026] According to the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, the N t and the row number corresponding to the peak point, and determining the second speed of the target corresponding to the peak point.

[0027] In one embodiment, the first parameter further comprises a first speed.

[0028] In one embodiment, before receiving the first parameter of the first target sent by the second network device, the method further includes:

[0029] First indication information sent by a controller in the synaesthesia integration system is received, where the first indication information is used to instruct the first network device to perform perception measurement.

[0030] The present application embodiment provides a perception method, which is applied to a second network device, and the method includes:

[0031] Sending perception signals;

[0032] receiving a first reflected signal, where the first reflected signal is a signal of the sensing signal that reaches the second network device after being reflected by the first target;

[0033] Perform target perception measurement according to the first reflected signal to determine a first parameter of the first target, where the first parameter includes a first distance between the first target and the second network device;

[0034] A first parameter of the first target is sent to the first network device.

[0035] In one embodiment, the number of the first target is at least one; and sending the first parameter of the first target to the first network device includes:

[0036] When a maximum distance among the first distances of the at least one first target is less than or equal to a preset distance threshold, a first parameter of the at least one first target is sent to the first network device.

[0037] In one embodiment, the number of the first target is at least one, and after performing target perception measurement according to the first reflection signal and determining the first parameter of the first target, the method further includes:

[0038] When the maximum distance among the first distances of at least one first target is greater than a preset distance threshold, a notification message is sent to a controller in the synaesthesia integration system so that the controller reselects a sensing device.

[0039] In one embodiment, the first parameter further comprises a first speed.

[0040] The present application provides a perception method, which is applied to a controller in a synaesthesia integration system, and the method includes:

[0041] Sending second indication information to the second network device, where the second indication information is used to instruct the second network device to perform perception measurement;

[0042] Send first indication information to the first network device, where the first indication information is used to instruct the first network device to perform perception measurement of a first distance of a first target obtained by the second network device performing perception measurement, where the first distance of the first target is the distance between the first target and the second network device.

[0043] In one embodiment, the number of the first target is at least one, and after sending the second indication information to the second network device, the method further includes:

[0044] receiving a notification message sent by the second network device when a maximum distance among the first distances of at least one first target obtained by sensing and measuring is greater than a preset distance threshold;

[0045] In response to the notification message, performing a sensing device reselection to determine a third network device and a fourth network device;

[0046] Sending third indication information to the third network device, where the third indication information is used to instruct the third network device to perform perception measurement;

[0047] Send fourth indication information to the fourth network device, where the fourth indication information is used to instruct the fourth network device to perform perception measurement of a fourth distance of the second target obtained by the third network device performing perception measurement, where the fourth distance of the second target is the distance between the second target and the third network device, and the second target includes the first target.

[0048] An embodiment of the present application provides a communication device, including: a memory, a transceiver, and a processor, wherein:

[0049] The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0050] Receive a first parameter of a first target sent by a second network device, where the first parameter includes a first distance; wherein the first distance of the first target is a distance between the first target and the second network device obtained by sensing and measuring after the second network device receives the first reflected signal;

[0051] Determining a sensing distance range of the first network device based on a first distance of the first target;

[0052] When the second reflected signal is received, perception measurement is performed within the perception distance range to determine the second parameter of the first target; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance of the first target and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is a signal of the perception signal sent by the second network device reaching the first network device after being reflected by the first target.

[0053] An embodiment of the present application provides a communication device, including: a memory, a transceiver, and a processor, wherein:

[0054] The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0055] Sending perception signals;

[0056] receiving a first reflected signal, where the first reflected signal is a signal of the sensing signal that reaches the second network device after being reflected by the first target;

[0057] Perform target perception measurement according to the first reflected signal to determine a first parameter of the first target, where the first parameter includes a first distance between the first target and the second network device;

[0058] A first parameter of the first target is sent to the first network device.

[0059] An embodiment of the present application provides a communication device, including: a memory, a transceiver, and a processor, wherein:

[0060] The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0061] Sending second indication information to the second network device, where the second indication information is used to instruct the second network device to perform perception measurement;

[0062] Send first indication information to the first network device, where the first indication information is used to instruct the first network device to perform perception measurement of a first distance of a first target obtained by the second network device performing perception measurement, where the first distance of the first target is the distance between the first target and the second network device.

[0063] An embodiment of the present application provides a communication device, including:

[0064] A first receiving module is used to receive a first parameter of a first target sent by a second network device, where the first parameter includes a first distance; wherein the first distance of the first target is a distance between the first target and the second network device obtained by sensing and measuring after the second network device receives the first reflected signal;

[0065] A first determining module, configured to determine a sensing distance range of a first network device based on a first distance of a first target;

[0066] The second determination module is used to perform perception measurement within the perception distance range to determine the second parameter of the first target when the second reflected signal is received; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance of the first target and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is a signal of the perception signal sent by the second network device reaching the first network device after being reflected by the first target.

[0067] An embodiment of the present application provides a communication device, including:

[0068] A first sending module, used for sending a perception signal;

[0069] A third receiving module is used to receive a first reflected signal, where the first reflected signal is a signal that reaches the second network device after the sensing signal is reflected by the first target;

[0070] A third determination module is used to perform target perception measurement according to the first reflection signal to determine a first parameter of the first target, where the first parameter includes a first distance between the first target and the second network device;

[0071] The second sending module is used to send the first parameter of the first target to the first network device.

[0072] An embodiment of the present application provides a communication device, including:

[0073] A fourth sending module, used to send second indication information to the second network device, where the second indication information is used to instruct the second network device to perform perception measurement;

[0074] The fifth sending module is used to send first indication information to the first network device, and the first indication information is used to instruct the first network device to perform perception measurement based on the first distance of the first target obtained by the second network device performing perception measurement, and the first distance of the first target is the distance between the first target and the second network device.

[0075] An embodiment of the present application provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the perception method provided by the embodiment of the present application.

[0076] In the embodiment of the present application, the first network device can determine the perception distance range of the first network device according to the first distance of the first target obtained by the perception measurement of the second network device. Subsequently, the first network device can perform perception measurement within the perception distance range to obtain the sum of the distance from the first target to the second network device and the distance from the first target to the first network device, thereby realizing target perception. In this way, the first network device does not need to perform perception measurement within a larger range that the first network device can perceive, but rather performs perception measurement within the perception distance range determined according to the first distance of the first target obtained by the perception measurement of the second network device, which can reduce the perception measurement range of the first network device, thereby reducing the complexity of perception measurement calculation, shortening the perception time, and thus improving perception efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 It is a schematic diagram of the structure of the network architecture applicable to the implementation of this application;

[0078] Figure 2 It is a geometric configuration diagram of a composite dual-base synaesthesia integrated system provided in an embodiment of the present application;

[0079] Figure 3 This is one of the perception principle diagrams of a composite dual-base synaesthesia integration system provided in an embodiment of the present application;

[0080] Figure 4 This is a schematic diagram of a grid-shaped sensing signal time-frequency resource block for target sensing provided in an embodiment of the present application;

[0081] Figure 5 It is a block diagram of an OFDM radar signal transceiver;

[0082] Figure 6 This is a schematic diagram of a 2D-DFT ranging and speed measurement algorithm provided in an embodiment of the present application;

[0083] Figure 7 This is a distance measurement principle diagram of a dual-base mode synaesthesia integrated system provided in an embodiment of the present application;

[0084] Figure 8 It is one of the schematic diagrams of a perception method provided in an embodiment of the present application;

[0085] Fig. 9 This is a second schematic diagram of a sensing method provided in an embodiment of the present application;

[0086] Fig.10 This is a third schematic diagram of a sensing method provided in an embodiment of the present application;

[0087] Fig.11 is a scene diagram of an application of a perception method provided in an embodiment of the present application;

[0088] Fig.12 is a structural diagram of a communication device provided in an embodiment of the present application;

[0089] Fig.13 is a structural diagram of a communication device provided in an embodiment of the present application;

[0090] Fig.14 is a structural diagram of a communication device provided in an embodiment of the present application;

[0091] Fig.15 is a structural diagram of a communication device provided in an embodiment of the present application;

[0092] Fig.16 is a structural diagram of a communication device provided in an embodiment of the present application;

[0093] Fig.17 It is a structural diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0094] In order to make the technical problems, technical solutions and advantages to be solved by the present application clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0095] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0096] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0097] 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 only 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.

[0098] The embodiments of the present application provide a sensing method, a communication device, and a storage medium to solve the problem of poor availability of a codebook.

[0099] Among them, the method and the device are based on the same application concept. Since the method and the device solve the problem in a similar principle, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0100] The technical solution provided in the embodiment of the present application can be applicable to a variety of systems, especially 6G systems. For example, the applicable system can be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, a long term evolution (LTE) system, a LTE frequency division duplex (FDD) system, a LTE time division duplex (TDD) system, an advanced long term evolution (LTE-A) system, a universal mobile telecommunication system (UMTS), a world-wide interoperability for microwave access (WiMAX) system, a 5G new radio (NR) system, a 6G system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0101] See also Figure 1 , Figure 1 It is a schematic diagram of the network architecture applicable to the implementation of this application, such as Figure 1 As shown, it includes a terminal 11 and a network device 12.

[0102] Among them, the terminal involved in the embodiment of the present application may be a device that provides voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called a user equipment (UE). The wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or a "cellular" phone) and a computer with a mobile terminal device. For example, it can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device, which exchanges language and / or data with the radio access network. For example, Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDA), Redcap terminals, Low power wide area (LPWA) terminals, etc. Wireless terminal devices may also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile stations, remote stations, access points, remote terminal devices, access terminal devices, user terminal devices, user agents, and user devices, which are not limited in the embodiments of the present application.

[0103] The network device involved in the embodiment of the present application may be a base station, which may include multiple cells providing services for the terminal. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in the access network that communicates with the wireless terminal device through one or more sectors on the air interface, or other names. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, and serve as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present application may be a network device (Base Transceiver Station, BTS) in the Global System for Mobile communications (Global System for Mobile communications, GSM) or Code Division Multiple Access (Code Division Multiple Access, CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolutionary network device (evolutional Node B, eNB or e-NodeB) in the long term evolution (long term evolution, LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), a base station in 6G, or a home evolved Node B (Home evolved Node B, HeNB), a relay node, a home base station (femto), a pico base station (pico), etc., which is not limited in the embodiments of the present application. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be arranged geographically separately.

[0104] Network devices and terminals can each use one or more antennas for multiple-input multiple-output (MIMO) transmission. MIMO transmission can be single-user MIMO (SU-MIMO) or multi-user MIMO (MU-MIMO). Depending on the form and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO or massive-MIMO, or it can be diversity transmission, precoded transmission or beamforming transmission, etc.

[0105] The mainstream receiver ranging and speed measurement algorithm of joint communications and sensing (JCAS) is the second-order discrete Fourier transform (2D-DFT) method. The existing composite dual-base synaesthesia integration system uses the 2D-DFT method for ranging and speed measurement, but the computational complexity is relatively high. This application proposes a low-computational complexity 2D-DFT ranging and speed measurement method suitable for a composite dual-base synaesthesia integration system.

[0106] For example, all system parameters and symbols used in this application are shown in Table 1.

[0107] The composite bi-base synaesthesia integrated system and the existing 2D-DFT ranging and speed measurement algorithm applicable to the composite bi-base synaesthesia integrated system are briefly introduced as follows:

[0108] The composite dual-base synaesthesia integrated system includes two receivers. One of the receivers and the transmitter are configured in coordination, that is, the T / R station (i.e., the second network device) of the single-base synaesthesia integrated system. Figure 2 The other is located far away from the transmitter, which is the Rx station (i.e. the first network device). The geometric configuration of the T / RR (i.e. T / R station and Rx station) composite dual-base synaesthesia integrated system is shown in Figure 2 shown.

[0109] The distance measurement principle of the composite dual-base synaesthesia integrated system: Figure 2 It can be seen that the sensing signal emitted by the T / R station is reflected by the target T and received by the T / R station and the Rx station respectively. The T / R station and the Rx station can be synchronized through the link between the T / R station and the Rx station. On the two-dimensional plane, the T / R station of the single-base synaesthesia integration system has a circular distance contour, while the distance and contour of the dual-base synaesthesia integration system is elliptical. The position of the target can be determined by combining the ranging results of the T / R station of the single-base synaesthesia integration system and the Rx station of the dual-base synaesthesia integration system.

[0110] Table 1: System parameters and parameter values

[0111]

[0112] like Figure 3 As shown, at a certain moment, the target T moves at a speed v in the direction of the angle φ with the angle bisector of the bistatic angle β. t The single-base synaesthesia integrated system T / R station can measure the speed v along the target T to Tx direction m The bistatic synaesthesia integrated system T / RR can measure the velocity v along the bisector of the bistatic angle β. b Combined with the measured baseline angle θ t and θ r , the velocity v of the target T can be solved t and direction φ, that is, combine the following equations (1) and (2) to solve for v t and φ.

[0113]

[0114] v b =v t cosφ (2)

[0115] The principle of ranging and speed measurement in the single-base mode synaesthesia integrated system: In order to reduce the perception signal overhead, the OFDM-based synaesthesia integrated waveform usually adopts a grid-structured perception signal distribution. Figure 4 This is an example of the perception signal distribution of a grid-shaped resource block. Its configuration is shown in Table 1. The darker resources are used for perception, and the gray resources are used for communication. For example, the grid-shaped perception signal resource block waveform can achieve a synaesthesia integrated system with a distance resolution of 1.5m, a speed resolution of 0.71m / h, a maximum detection distance of 180m, and a maximum detection speed of 85m / s.

[0116] like Figure 5 As shown, the transmitter of the single-base synaesthesia integrated system is Figure 4 The waveforms shown send both sensing and communication signals.

[0117] The sensing signal d emitted by the transmitter Tx (m,n) is transmitted by the transmitting antenna after IFFT, CP insertion, and digital-to-analog conversion. The sensing signal is reflected by the target to be sensed in space, and the echo is received by the receiving antenna. After analog-to-digital conversion, CP removal, and FFT, the receiving end sensing signal d is generated. Rx (m,n).d Rx The expression for (m,n) is as follows:

[0118]

[0119] Among them, A(m,n) is the change of signal strength, and the two exponential terms and They carry the distance information R and speed information v of the target to be sensed respectively.

[0120] Put d Rx (m,n) divided by d Tx (m,n) can eliminate the data information carried by the perception signal and obtain the normalized matrix (i.e., modulation symbol matrix) D(m,n):

[0121]

[0122] in:

[0123]

[0124]

[0125] represents the parallel product, vector y R (m)N f The linear phase change of each unit contains the distance information of the target to be sensed, which can be obtained by IDFT. It should be noted that in the embodiment of the present application, m is the subcarrier index and n is the OFDM symbol index.

[0126] IDFT results in N f Among the sampling points, there will be one or more sampling point peaks. The peak sampling point sequence number p peak And formula (7), we can get the distance of the peak corresponding to the target.

[0127]

[0128] Vectory D (n)N t The linear phase change of each unit contains the speed information of the target to be sensed, which can be obtained by DFT. t Among the sampling points, there will be one or more sampling point peaks. The peak sampling point sequence number q peak And formula (8), we can get the speed of the target corresponding to the peak.

[0129]

[0130] Formula (4) can also be expressed in matrix form:

[0131]

[0132] Each column of the above matrix D(m,n) represents an OFDM symbol, and each row represents a subcarrier. The column vector and row vector in the matrix describe the distance of the reflector and the phase shift caused by the Doppler frequency shift, respectively.

[0133] like Figure 6 As shown, firstly, IDFT operation is performed on each column of the matrix D(m,n) in equation (9), and then DFT operation is performed on each row of the result of column IDFT transformation. The final matrix obtained is a two-dimensional radar map in the range and speed domain, from which the range and speed of the target can be read.

[0134] The principle of distance and speed measurement of dual-base mode synaesthesia integrated system: Figure 7 As shown in FIG. 1 , the transmitter Tx and the receiver Rx of the dual-base synaesthesia integrated system are located at the positions of TX and RX respectively, and the positions of TX and RX are known. The distances between the target to be measured and the transmitter Tx and the receiver Rx are R t and R r The total distance from Tx to the target and from the target to Rx is Rh = R t +R r .

[0135] The distance and speed measurement algorithm of the dual-base mode synaesthesia integrated system is similar to that of the single-base mode. The following lists only the differences from the single-base mode. The perception signal d received by the receiver Rx of the dual-base synaesthesia integrated system Rx The expression for (m,n) is as follows:

[0136]

[0137] Put d Rx (m,n) divided by d Tx (m,n) can eliminate the data information carried by the perception signal and obtain the normalized matrix D(m,n). Perform IDFT transformation on the column vector of D(m,n). The IDFT result is in N f Among the sampling points, there will be one or more sampling point peaks. The peak sampling point sequence number p peak By using equation (11), we can get the sum of the distances from the peak target to the dual-base transmitter and receiver.

[0138]

[0139] Note that the distance Rh measured in dual-base mode is the total distance from Tx to the target and from the target to Rx. Therefore, the distance Rh can only determine that the target T is located on the ellipse with Tx and Rx as the foci and the sum of the distances Rh, as shown in Figure 7 The speed measurement algorithm of the dual-base mode is the same as that of the single-base mode. The only difference is that the speed measured by the dual-base mode is the speed along the direction of the dual-base angle bisector.

[0140] The composite dual-base synaesthesia integrated system needs to perform second-order discrete Fourier transform at the T / R station and the Rx station respectively to obtain the distance and speed information of the measured target. This method leads to extremely high computational complexity of the 2D-DFT method for ranging and speed measurement in the existing composite dual-base synaesthesia integrated system. The 2D-DFT ranging and speed measurement algorithm needs to first perform 1D-IDFT on the modulation symbol matrix column by column, and then perform 1D-DFT on the resulting matrix row by row. When the accuracy requirements for ranging and speed measurement are high, the order of discrete Fourier transform will be very high, resulting in extremely high computational complexity of the 2D-DFT periodogram method. Figure 4 Taking the perceptual signal waveform shown in the figure as an example, the computational complexity of a DFT is O(N^2), where N is the order of the DFT, for example, 120. Figure 4 A grid-shaped perception signal resource block of the perception signal waveform shown in the figure is subjected to 2D-DFT, and its computational complexity is as high as 2NO(N^2)=240O(N^2), that is, 2N^3=3456000 complex multiplication operations, before the distance and speed information can be obtained once. For the composite dual-base synaesthesia integration system, 6912000 complex multiplication operations are required to obtain the distance and speed information of a target once. Based on this, the embodiment of the present application proposes a low computational complexity 2D-DFT distance and speed measurement method suitable for the composite dual-base synaesthesia integration system to improve the target perception efficiency.

[0141] See also Figure 8 , Figure 8 is a flowchart of a sensing method provided in an embodiment of the present application, which is applied to a first network device. For example, the first network device may be a first base station, etc. Figure 8 As shown, the following steps are included:

[0142] Step 801: Receive a first parameter of a first target sent by a second network device.

[0143] The first parameter includes a first distance, wherein the first distance of the first target is a distance between the first target and the second network device obtained by sensing and measuring after the second network device receives the first reflected signal.

[0144] It should be understood that the first reflection signal is a signal of the perception signal sent by the second network device and then reflected by the first target and reaching the second network device. That is, in the process of performing target perception measurement, the second network device may first send a perception signal, and the first reflection signal after the perception signal is reflected by the first target reaches the second network device. After receiving the first reflection signal, the second network device performs perception measurement, and the first distance between the first target and the second network device can be obtained, that is, the first distance of the first target is obtained, and the perception of the first target is realized. It should be noted that the number of first targets perceived by the second network device by sending the perception signal may be at least one, that is, the first distance of each first target in at least one first target can be obtained. Afterwards, the second network device may send the first distance of the first target to the first network device, so that the first network device may receive the first distance of the first target sent by the second network device. In addition, in one example, the above-mentioned first parameter also includes the first speed. In one example, the number of first targets may be at least one, and receiving the first parameter of the first target sent by the second network device may include: receiving the first distance of at least one first target sent by the second network device when the maximum distance in the first distance of at least one first target is less than or equal to the preset distance threshold.

[0145] Step 802: Determine a sensing distance range of a first network device based on a first distance of a first target.

[0146] The second network device can measure the distance and speed of a target within its maximum measurable distance range with itself as the center and the radius. In this embodiment, the second network device performs target perception and obtains the first distance between the first target and the second network device. It should be understood that the first target is on a circle with the second network device as the center and the radius as the first distance. After obtaining the first distance of the first target obtained by the second network device through target perception measurement, the first network device can use it to determine the perception distance range of the first network device to narrow the range of the perception measurement of the first network device.

[0147] Step 803: When the second reflected signal is received, a sensing measurement is performed within the sensing distance range to determine a second parameter of the first target.

[0148] Among them, the second parameter includes the target distance, the target distance of the first target is the sum of the second distance of the first target and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is the signal of the above-mentioned perception signal sent by the second network device and then reflected by the first target and reaching the first network device.

[0149] It should be understood that the first network device can measure the distance and speed of the target within the ellipse with the second network device and the first network device as the focus and the sum of the distances being the maximum measurable distance. In this embodiment, the first network device performs target perception to obtain the target distance of the first target (i.e., the sum of the distance from the first target to the second network device and the distance from the first target to the first network device). It should be understood that the first target is on the ellipse with the second network device and the first network device as the focus and the sum of the distances being the target distance. After determining the second parameter of the first target, the position of the first target can be determined based on the first distance and the target distance of the first target.

[0150] In addition, during the perception process, the first network device performs target perception measurement within the perception distance range determined according to the first distance of the first target obtained by the perception measurement of the second network device, and the target distance of the perception measurement is within the perception distance range. For example, the determined perception distance range is [50, 90] meters, and the target distance of the first target obtained by the perception measurement of the first network device is 60, which is within [50, 90] meters.

[0151] In the perception method of the embodiment of the present application, the first network device can determine the perception distance range of the first network device according to the first distance of the first target obtained by the perception measurement of the second network device, and then the first network device can perform perception measurement within the perception distance range to obtain the sum of the distance from the first target to the second network device and the distance from the first target to the first network device, thereby realizing target perception. In this way, the first network device does not need to perform perception measurement within a larger range that the first network device can perceive, but rather performs perception measurement within the perception distance range determined according to the first distance of the first target obtained by the perception measurement of the second network device, which can narrow the perception measurement range of the first network device, thereby reducing the complexity of perception measurement calculation, shortening the perception time, and thus improving perception efficiency.

[0152] In one embodiment, when the second reflected signal is received, performing a sensing measurement within a sensing distance range to determine a second parameter of the first target includes:

[0153] According to the second reflected signal and the sensed signal, a modulation symbol matrix is ​​determined, and the dimension of the modulation symbol matrix is ​​N f Row N t Column, N f is the number of subcarrier samples, N t is the number of OFDM symbol samples;

[0154] Performing an inverse discrete Fourier transform (IDFT) on the column vector of the modulation symbol matrix to obtain a first matrix, where the dimension of the first matrix is ​​the same as the dimension of the modulation symbol matrix;

[0155] Determine the target row number range based on the perceived distance range;

[0156] Performing discrete Fourier transform DFT on the target row vector in the first matrix to obtain a second matrix, wherein the number of columns of the second matrix is ​​the same as the number of columns of the modulation symbol matrix, the number of rows of the second matrix is ​​the number of rows of the target row vector, and the row sequence number in the second matrix is ​​the same as the row sequence number of the target row vector, the second matrix is ​​a matrix representing the relationship between speed and distance, and the target row vector is a row vector within the target row sequence number range;

[0157] A second parameter is determined according to the second matrix.

[0158] It can be understood that the first network device can know in advance the above-mentioned perception signal sent by the second network device, and after receiving the second reflected signal of the perception signal reflected by the first target and reaching the first network device, the second reflected signal and the perception signal can be used to determine the modulation symbol matrix. It should be noted that the perception signal in this embodiment can be a matrix signal, that is, a signal with a dimension size of N f Row N t The perception signal of the column, the first reflection signal and the second reflection signal are also matrix signals, and the dimension size is also N f Row N t List.

[0159] It should be noted that the row number in the second matrix is ​​the same as the row number of the target row vector. It should be understood that the row number in the second matrix adopts the row number of the target row vector in the first matrix. For example, the target row vector is the row vector from the 33rd row to the 60th row in the first matrix. The number of rows of the target row vector is 28. DFT transformation is performed on each row of the target row vector in the first matrix to obtain 28 rows of N t The second matrix of columns, the row sequence in the second matrix also uses the 33rd to 60th rows. For example, the row number of the first row of the second matrix can be 33, and the row number of the last row can be 60, which facilitates the subsequent calculation of the second parameter of the first target.

[0160] It can be understood that in order to achieve communication and perception, the OFDM-based synaesthesia integrated system usually adopts a grid-like structure for the distribution of perception signals. That is, sampling is performed in the time-frequency resources, the sampled time-frequency resources are used for perception, and the remaining time-frequency resources can be used for communication. f is the number of subcarrier samples, N t is the number of OFDM symbol samples, that is, Nf subcarrier sampling points, N t OFDM symbol sampling points.

[0161] In this embodiment, a perception signal can be sent through the second network device, and a first reflected signal after the perception signal is reflected can be used for perception measurement to obtain a first distance between the first target and the second network device. The first network device can receive a second reflected signal sent by the second network device and reaching the first network device after reflection, and can perform perception measurement based on the second reflected signal to obtain the target distance of the first target. In the perception measurement process of the first network device, the second-order discrete Fourier transform (2D-DFT) can be used to perform distance measurement and speed measurement to achieve target perception. For example, in the process of target perception by the 2D-DFT algorithm, the above-mentioned first network device can perform an inverse discrete Fourier transform (IDFT) on the columns of the modulation symbol matrix, and then perform a DFT transform on the rows of the result obtained after the IDFT transform, and determine the distance and speed of the target based on the result after the DFT transform. Moreover, in the present embodiment, in order to avoid the problem of high computational complexity caused by performing DFT transformation on each row in the result after IDFT transformation, DFT is performed on only some rows of the first matrix obtained after IDFT transformation, and the target row number range can be determined according to the perception distance range. Only row vectors within the target row number range in the first matrix are DFT-performed, thereby reducing computational complexity. The target distance of the first target is determined by using the second matrix obtained by performing DFT transformation on only some rows, and target perception is achieved, thereby shortening the perception time and improving the perception efficiency.

[0162] In one embodiment, the lower limit of the sensing distance range is the fourth distance, the upper limit of the sensing distance range is the fifth distance, the lower limit of the target row number range is the first row number, and the upper limit of the target row number range is the second row number;

[0163] According to the perception distance range, determine the target row number range, including:

[0164] Determine the first row sequence number according to the fourth distance and the pre-acquired distance resolution;

[0165] The second row number is determined according to the fifth distance and the distance resolution.

[0166] In this embodiment, the target row number range can be determined using the perceived distance range and the distance resolution. It should be understood that the distance resolution can be acquired in advance, and different synaesthesia integrated systems may correspond to different distance resolutions. The distance resolution may be related to relevant parameters of the system and to the speed of light. After determining the perceived distance range, the first row number can be determined using the fourth distance and the pre-acquired distance resolution, and the second row number can be determined using the fifth distance and the distance resolution, thereby achieving the determination of the target row number range. The determined target row number range is the range from the first row number to the second row number. It can be understood that in the first matrix and the second matrix, the distance corresponding to each two adjacent subcarrier sampling points can be the distance resolution. For example, N f is 120, N t The first matrix has 120 rows (0-119) and 120 columns (0-119). The distance resolution of the synaesthesia integration system of the embodiment of the present application is 1.5 meters, that is, the distance between adjacent sampling points is 1.5 meters, and the maximum perception distance is 180 meters (120*1.5).

[0167] In this embodiment, in the process of determining the target row number range, the distance resolution can be used to correspond the distance perception range to the target row number range, so as to determine the row vector range for performing DFT transformation in the first matrix, so as to facilitate the subsequent DFT of some row vectors in the first matrix, avoid performing DFT on every row in the first matrix, thereby reducing the computational complexity and improving the perception efficiency.

[0168] In one embodiment, the first row serial number is the result of dividing the fourth distance by the distance resolution and rounding down; the second row serial number is the result of dividing the fifth distance by the distance resolution and rounding up.

[0169] It should be understood that there may be a situation where the fourth distance cannot be divided by the distance resolution and / or the fifth distance cannot be divided by the distance resolution. The first row number in the target row number range is the result of rounding down after the fourth distance is divided by the distance resolution, and the second row number is the result of rounding up after the fifth distance is divided by the distance resolution. DFT is performed on the row vectors in the target row number range in the first matrix to obtain a second matrix. The second parameter of the first target is determined by the second matrix, which can reduce the occurrence of target perception omissions and thus improve perception accuracy.

[0170] In one embodiment, determining the second parameter according to the second matrix includes:

[0171] determining peak points in the second matrix;

[0172] Based on the speed of light, the pre-acquired subcarrier spacing, N fand the column number corresponding to the peak point, determine the target distance of the target corresponding to the peak point, and the target corresponding to the peak point includes the first target.

[0173] It should be understood that the definition of the target distance here is similar to that of the target distance in the above embodiment, and the target distance of the target corresponding to the peak point is the sum of the distance from the first network device to the target and the distance from the target to the second network device. f And the column numbers corresponding to the peak points in the second matrix are used to determine the target distances of the targets corresponding to these peak points. It should be noted that there may be more than one peak point in the second matrix, that is, there may be at least one (one or more), and each peak point has a corresponding target, that is, there may be at least one target, so the target distance of the target corresponding to at least one peak point can be determined, that is, the target distance of at least one target can be determined.

[0174] In one example, the target distance of the target corresponding to the peak point may be positively correlated with the light speed and the column number corresponding to the peak point, and the target distance of the target corresponding to the peak point may be positively correlated with the pre-acquired subcarrier spacing and N f For example, the target distance of the target corresponding to the peak point can be obtained by the following formula:

[0175]

[0176] Among them, R i is the target distance of the target corresponding to the peak point i, c0 is the speed of light, p peak_i is the column number corresponding to the peak point i, and Δf is the subcarrier spacing.

[0177] In one embodiment, the second parameter further comprises a second speed;

[0178] Determining the second parameter according to the second matrix also includes:

[0179] According to the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, N t and the row number corresponding to the peak point, and determining the second speed of the target corresponding to the peak point.

[0180] In this embodiment, the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, N t And the row numbers corresponding to the peak points are used to determine the second speeds of the targets corresponding to these peak points. It should be noted that there can be at least one (one or more) peak points in the second matrix, and each peak point has a corresponding target. Thus, the second speed of the target corresponding to at least one peak point can be determined, that is, the second speed of at least one target can be determined.

[0181] In one example, the second speed of the target corresponding to the peak point may be positively correlated with the speed of light and the row number corresponding to the peak point, and the second speed of the target corresponding to the peak point may be positively correlated with the pre-acquired carrier frequency, OFDM symbol duration, and N t For example, the second speed of the target corresponding to the peak point can be obtained by the following formula:

[0182]

[0183] Among them, v i is the second speed of the target corresponding to the peak point i, q peak_i is the row number corresponding to the peak point i, f c is the carrier frequency, T sym is the OFDM symbol duration.

[0184] In one embodiment, before receiving the first parameter of the first target sent by the second network device, the method further includes:

[0185] First indication information sent by a controller in the synaesthesia integration system is received, where the first indication information is used to instruct a first network device to perform perception measurement.

[0186] It can be understood that the controller in the synaesthesia integrated system selects the network device that performs perception, and the controller sends an indication message to instruct the selected network device to perform target perception measurement. In this embodiment, the controller can select the first network device and the second network device to perform perception measurement, and the controller can send a first indication message to the first network device to instruct the first network device to perform perception measurement. After the first network device receives the first indication message, it can execute the specific process of the perception method in the above embodiment. In one example, the first indication message is used to instruct the first network device to perform perception measurement based on the first distance of the first target obtained by the second network device performing perception measurement.

[0187] See also Fig. 9 , Fig. 9 is a flowchart of a perception method provided in an embodiment of the present application, which is applied to a second network device, such as Fig. 9 As shown, the following steps are included:

[0188] Step 901: Send a perception signal;

[0189] Step 902: Receive a first reflected signal, where the first reflected signal is a signal that the sensing signal reaches the second network device after being reflected by the first target;

[0190] Step 903: performing target perception measurement according to the first reflection signal to determine a first parameter of the first target;

[0191] The first parameter includes a first distance between the first target and the second network device;

[0192] Step 904: Send a first parameter of a first target to a first network device.

[0193] That is, the second network device sends the first parameter of the first target to the first network side device, so that the first network device determines the perception distance range of the first network device based on the first distance of the first target, and performs perception measurement within the perception distance range to determine the second parameter of the first target, the second parameter includes the target distance, the target distance is the sum of the second distance and the third distance, the target distance falls within the perception distance range, the second distance is the distance from the first network device to the first target, and the third distance is the distance from the first target to the second network device.

[0194] In one embodiment, the number of the first target is at least one; sending a first parameter of the first target to the first network device includes:

[0195] When a maximum distance among the first distances of the at least one first target is less than or equal to a preset distance threshold, a first parameter of the at least one first target is sent to the first network device.

[0196] In one embodiment, the number of the first target is at least one, and after performing target perception measurement according to the first reflection signal and determining the first parameter of the first target, the method further includes:

[0197] When the maximum distance among the first distances of at least one first target is greater than a preset distance threshold, a notification message is sent to a controller in the synaesthesia integration system so that the controller reselects a sensing device.

[0198] In one embodiment, the first parameter further includes a first speed.

[0199] See also Fig.10 , Fig.10 is a flow chart of a perception method provided in an embodiment of the present application, which is applied to a controller in a synaesthesia integration system, such as Fig.10 As shown, the following steps are included:

[0200] Step 1001: Sending second indication information to a second network device, where the second indication information is used to instruct the second network device to perform perception measurement;

[0201] Step 1002: Send first indication information to the first network device, where the first indication information is used to instruct the first network device to perform perception measurement based on a first distance of a first target obtained by the second network device performing perception measurement, where the first distance of the first target is the distance between the first target and the second network device.

[0202] It should be understood that the controller selects the first network device and the second network device as perception devices for perception measurement. After receiving the second indication information, the second network device can send a perception signal to perform perception measurement to obtain a first parameter of the first target. The first parameter may include a first distance. The first distance is the first distance of the first target. The first distance is the distance between the first target and the second network device obtained by perception measurement after the second network device receives the first reflected signal (the perception signal is reflected from the first target to the signal of the second network device), and the first parameter of the first target obtained by the perception measurement is sent to the first network device.

[0203] In one embodiment, the number of the first target is at least one, and after sending the second indication information to the second network device, the method further includes:

[0204] receiving a notification message sent by the second network device when a maximum distance among the first distances of at least one first target obtained by sensing and measuring is greater than a preset distance threshold;

[0205] In response to the notification message, performing a sensing device reselection to determine a third network device and a fourth network device;

[0206] Sending third indication information to the third network device, where the third indication information is used to instruct the third network device to perform perception measurement;

[0207] Send fourth indication information to the fourth network device, and the fourth indication information is used to instruct the fourth network device to perform perception measurement based on a fourth distance of the second target obtained by the third network device performing perception measurement, where the fourth distance of the second target is the distance between the second target and the third network device, and the second target includes the first target.

[0208] When the maximum distance among the first distances of at least one first target obtained by the second network device sensing measurement is greater than the preset distance threshold, it means that the first target is far away from the second network device, which easily leads to the subsequent first network device using the first distance of the first target to determine the sensing distance range and perform sensing measurement. The computational complexity is still high, that is, the degree of reducing the computational complexity is small. In this embodiment, in order to further reduce the computational complexity, when the maximum distance among the first distances of at least one first target obtained by the second network device sensing measurement is greater than the preset distance threshold, the second network device may send a notification message to the controller. When the controller receives the notification message, it may reselect the sensing device and reselect the third network device and the fourth network device as new sensing devices for sensing measurement. That is, the third network device replaces the second network device, and the fourth network device replaces the first network device for sensing measurement to reduce the sensing computational complexity.

[0209] The process of the above method is described in detail below with some specific embodiments. The method of the embodiment of the present application is applicable to target perception of a composite dual-base synaesthesia integrated system, which includes a T / R station (corresponding to the above second network device) and an R station (corresponding to the above first network device).

[0210] For example, as an example, Fig.11 As shown in Figure 1, the T / R station and Rx station of a composite dual-base synaesthesia integrated system are located at the TX and RX positions respectively, the coordinates of TX are (-25, 0), the coordinates of RX are (25, 0), and the distance between TX and TX is 50 meters. The transmitter of the dual-base synaesthesia integrated system is based on Table 1 and Figure 4 The parameters shown are configured to transmit the sensing signal. Both the single-base system and the dual-base system in the dual-base interawareness integrated system can achieve sensing indicators of 1.5m distance resolution, 0.71m / s speed resolution, 180m maximum detection distance (i.e., 180m maximum sensing distance), and 85m / s maximum sensing speed. The T / R station of the single-base system can measure the distance and speed of the target within a radius of 180 meters with TX as the center; the Rx station of the dual-base system can measure the distance and speed of the target within a range of 180 meters with TX and RX as the foci, i.e., the target within the ellipse range with the sum of the distances to the two foci being 180 meters.

[0211] In the solution of the embodiment of the present application, the T / R station in the dual-base synaesthesia integrated system is first used to measure the distance of the target within the perception range. According to the distance of the target measured by the T / R station of the single-base system, the range of distance measurement of the dual-base system Rx station (i.e., the perception distance range) can be determined. Therefore, when performing row DFT operation on the modulation symbol matrix D, DFT is performed only on some rows, thereby reducing the computational complexity of the dual-base synaesthesia integrated system.

[0212] Embodiment 1:

[0213] Step 110: The T / R station in the dual-base synaesthesia integrated system transmits a sensing signal that meets the distance and speed sensing requirements for measurement by the T / R station and the Rx station;

[0214] Step 120: The T / R station in the dual-base synaesthesia integrated system receives the first reflected signal (also called the first echo signal) and executes the single-base mode synaesthesia integrated system distance and speed measurement algorithm to solve the distance and speed of the target to be measured within the perception range, that is, to obtain the first distance and first speed of the first target. Assume that there are two targets to be perceived (two first targets) within the perception range, one of which (hereinafter referred to as target 1) is 20 meters away from the T / R station, and the other target (hereinafter referred to as target 2) is 10 meters away from the T / R station. It should be noted that the speed of the target has no effect on the perception distance range of the Rx station determined in this application, and no specific setting is made here. The distance of the target measured by the single-base system T / R station can determine that target 1 is located on a circle with TX as the center and a radius (r) of 20, that is Fig.11 In the figure, target 2 is located on a circle with r=20, but its exact position cannot be determined. Similarly, target 2 is located on a circle with TX as the center and a radius of 10, that is, Fig.11 The point is on the circle with r=10, but the exact position cannot be determined.

[0215] Step 130: The T / R station in the dual-base synaesthesia integrated system transmits the distance and speed of the target measured by the single-base system to the Rx station through the communication link.

[0216] Step 140: The Rx station in the dual-base synaesthesia integrated system determines the range of the distance and (Rh) of the first target based on the first distance of the first target measured by the T / R station, that is, determines the sensing distance range. Fig.11 For the Rx station, the minimum value of the distance and Rh is 50 meters, at which point at least one of the two targets is located on the baseline between TX and RX, that is, Fig.11 The coordinates of the position marked by × are (-5, 0) and (-15, 0). The maximum value of distance and Rh is 90 meters. At this time, target 1 is outside the baseline between TX and RX, that is, Fig.11 The coordinates of the diamond mark are (-45, 0). The sum of the distances Rh between target 1 and target 2 at any other position of the concentric circle will not be less than 50, nor greater than 90, so Rh = R t +R r The range is [50,90].

[0217] Step 150: The Rx station in the dual-base synaesthesia integrated system receives the second reflected signal (second echo signal) and executes the dual-base mode synaesthesia integrated system distance and speed measurement algorithm to solve the distance and speed of the target to be measured within the sensing range, and the target distance and second speed of the first target can be obtained. The Rx station performs IDFT operation on each column of the modulation symbol matrix D in equation (9), that is, performs 120 IDFT operations. The vector results of each IDFT in the 120 IDFTs are combined as columns to obtain the first matrix D r :

[0218]

[0219] Step 160: According to the perception distance range [50, 90] determined in step 140, determine the target row number range, that is, the first row number obtained by dividing the lower limit (50) of the perception distance range by the distance resolution (1.5 meters) and rounding down is 33, and the second row number obtained by dividing the upper limit (90) of the perception distance range by the distance resolution (1.5 meters) and rounding up is 60. The target row number range is [33, 60]. For the first matrix D obtained in step 150, r By performing DFT operation on the 33rd to 60th lines (corresponding to 50 meters to 90 meters), a dual-base range and speed radar map with distance and Rh in the range of [50,90] can be obtained. From the radar map, the target distance of the above two targets and the speed along the angular bisector of the dual-base angle β (i.e., the second speed) can be read. Step 6 of this embodiment avoids the existing dual-base 2D-DFT ranging and speed measurement algorithm for D r DFT operations are performed on each line of . In this example, the DFT operations from line 61 to line 119 and line 0 to line 32 are not necessary, and these DFT operations cannot obtain more distance and speed information of target 1 and target 2. By not performing these DFT operations, the computational complexity of the dual-base ranging and speed measurement algorithm can be reduced, and the delay in obtaining distance and speed can be reduced, thereby improving target perception efficiency.

[0220] It should be noted that the R station in the dual-base synaesthesia integrated system can calculate the distance and speed of each target within the sensing range by combining the distance and speed information measured by the T / R station and the distance and speed information measured by the R station.

[0221] Embodiment 2:

[0222] The above embodiment 1 is applicable to the case where the target to be sensed is close to the T / R station. When the target is far from the T / R station, for example, near the Rx station, the reduction in computational complexity is not obvious. Because the base stations of the wireless communication system have uplink and downlink functions, the following implementation steps can be used to solve this problem:

[0223] Step 210: The T / R station in the dual-base synaesthesia integrated system transmits a sensing signal that meets the distance and speed sensing requirements for measurement by the T / R station and the Rx station:

[0224] Step 220: The T / R station in the dual-base synaesthesia integrated system receives the first reflected signal and executes the distance and speed measurement algorithm of the single-base mode synaesthesia integrated system to solve the distance and speed of the target to be measured within the sensing range, that is, the sensing measurement obtains the first distance and first speed of the first target. When the maximum first distance of the target to be measured within the sensing range is greater than the preset distance threshold, the controller of the synaesthesia integrated system can execute the T / R station R station reselection process. For example, the current Rx station can switch to the T / R station, or find a station closer to the first target as the T / R station, or the current T / R station can switch to the Rx station, etc.;

[0225] Step 230: The reselected sensing device (the reselected sensing device replaces the original T / R station and the original R station) executes the steps of embodiment 1 or embodiment 2.

[0226] The T / R station in the composite dual-base synaesthesia integrated system of the embodiment of the present application measures the distance of the target within the perception range, and the dual-base system Rx station can determine the distance measurement range (perception distance range) of the dual-base system Rx station according to the distance of the target measured by the single-base system T / R station. r When performing DFT operation, DFT is performed only on some rows (i.e., rows corresponding to the target row number), thereby reducing the computational complexity of the composite dual-base synaesthesia integration system and improving the perception efficiency.

[0227] See also Fig.12 , Fig.12 is a structural diagram of a communication device provided by an embodiment of the present invention, the communication device may be a first network device, such as Fig.12 As shown, it includes a memory 1220, a transceiver 1200 and a processor 1210:

[0228] The memory is used to store the computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations:

[0229] Receive a first parameter of a first target sent by a second network device, where the first parameter includes a first distance; wherein the first distance of the first target is a distance between the first target and the second network device obtained by sensing and measuring after the second network device receives the first reflected signal;

[0230] Determining a sensing distance range of the first network device based on a first distance of the first target;

[0231] When the second reflected signal is received, perception measurement is performed within the perception distance range to determine the second parameter of the first target; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance of the first target and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is a signal of the perception signal sent by the second network device that reaches the first network device after being reflected by the first target.

[0232] Among them, Fig.12 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1210 and various circuits of memory represented by memory 1220 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1200 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, including wireless channels, wired channels, optical cables, and other transmission media. For different user devices, the user interface 1230 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0233] The processor 1210 is responsible for managing the bus architecture and general processing, and the memory 1220 can store data used by the processor 1210 when performing operations.

[0234] Optionally, the processor 1210 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0235] The processor calls the computer program stored in the memory to execute any method provided by the embodiment of the present invention according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0236] In one embodiment, the processor is specifically configured to read a computer program in a memory and perform the following operations:

[0237] According to the second reflected signal and the sensed signal, a modulation symbol matrix is ​​determined, and the dimension of the modulation symbol matrix is ​​N f Row N t Column, N f is the number of subcarrier samples, N t is the number of OFDM symbol samples;

[0238] Performing an inverse discrete Fourier transform IDFT on the column vector of the modulation symbol matrix to obtain a first matrix, where the dimension of the first matrix is ​​the same as the dimension of the modulation symbol matrix;

[0239] Determine the target row number range based on the perceived distance range;

[0240] Performing discrete Fourier transform DFT on the target row vector in the first matrix to obtain a second matrix, wherein the number of columns of the second matrix is ​​the same as the number of columns of the modulation symbol matrix, the number of rows of the second matrix is ​​the number of rows of the target row vector, and the row sequence number in the second matrix is ​​the same as the row sequence number of the target row vector, the second matrix is ​​a matrix representing the relationship between speed and distance, and the target row vector is a row vector within the target row sequence number range;

[0241] A second parameter is determined according to the second matrix.

[0242] In one embodiment, the lower limit of the sensing distance range is the fourth distance, the upper limit of the sensing distance range is the fifth distance, the lower limit of the target row number range is the first row number, and the upper limit of the target row number range is the second row number;

[0243] The processor is specifically configured to read the computer program in the memory and perform the following operations:

[0244] Determine the first row sequence number according to the fourth distance and the pre-acquired distance resolution;

[0245] The second row number is determined according to the fifth distance and the distance resolution.

[0246] In one embodiment, the first row serial number is the result of dividing the fourth distance by the distance resolution and rounding down;

[0247] The serial number in the second row is the result of dividing the fifth distance by the distance resolution and rounding up.

[0248] In one embodiment, the processor is specifically configured to read a computer program in a memory and perform the following operations:

[0249] determining peak points in the second matrix;

[0250] Based on the speed of light, the pre-acquired subcarrier spacing, N fand the column number corresponding to the peak point, determine the target distance of the target corresponding to the peak point, and the target corresponding to the peak point includes the first target.

[0251] In one embodiment, the second parameter further comprises a second speed;

[0252] The processor is specifically configured to read the computer program in the memory and perform the following operations:

[0253] According to the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, N t and the row number corresponding to the peak point, and determining the second speed of the target corresponding to the peak point.

[0254] In one embodiment, the first parameter further includes a first speed.

[0255] In one embodiment, the processor is further configured to read the computer program in the memory and perform the following operations:

[0256] First indication information sent by a controller in the synaesthesia integration system is received, where the first indication information is used to instruct a first network device to perform perception measurement.

[0257] It should be noted here that the above-mentioned communication device provided in the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment applied to the first network device, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0258] See also Fig.13 , Fig.13 is a structural diagram of a communication device provided by an embodiment of the present invention, and the communication device may be a second network device, such as Fig.13 As shown, it includes a memory 1320, a transceiver 1300 and a processor 1310:

[0259] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of a processor; and a processor for reading the computer program in the memory and performing the following operations:

[0260] Sending perception signals;

[0261] receiving a first reflected signal, where the first reflected signal is a signal of the sensing signal reaching the second network device after being reflected by the first target;

[0262] Performing target perception measurement according to the first reflected signal to determine a first parameter of the first target, where the first parameter includes a first distance between the first target and the second network device;

[0263] A first parameter of a first target is sent to a first network device.

[0264] Among them, Fig.13 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1310 and various circuits of memory represented by memory 1320 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1300 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, including wireless channels, wired channels, optical cables, and other transmission media. For different user devices, the user interface 1330 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0265] The processor 1310 is responsible for managing the bus architecture and general processing, and the memory 1320 can store data used by the processor 1310 when performing operations.

[0266] Optionally, the processor 1310 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0267] The processor calls the computer program stored in the memory to execute any method provided by the embodiment of the present invention according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0268] In one embodiment, the number of the first target is at least one;

[0269] The processor is specifically configured to read the computer program in the memory and perform the following operations:

[0270] When a maximum distance among the first distances of the at least one first target is less than or equal to a preset distance threshold, a first parameter of the at least one first target is sent to the first network device.

[0271] In one embodiment, the number of the first target is at least one;

[0272] The processor is also used to read the computer program in the memory and perform the following operations:

[0273] When the maximum distance among the first distances of at least one first target is greater than a preset distance threshold, a notification message is sent to a controller in the synaesthesia integration system so that the controller reselects a sensing device.

[0274] In one embodiment, the first parameter further includes a first speed.

[0275] It should be noted here that the above-mentioned communication device provided in the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment applied to the second network device, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0276] See also Fig.14 , Fig.14 is a structural diagram of a communication device provided by an embodiment of the present invention, and the communication device may be a controller, such as Fig.14 As shown, it includes a memory 1420, a transceiver 1400 and a processor 1410:

[0277] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of a processor; and a processor for reading the computer program in the memory and performing the following operations:

[0278] Sending second indication information to the second network device, where the second indication information is used to instruct the second network device to perform perception measurement;

[0279] First indication information is sent to the first network device, where the first indication information is used to instruct the first network device to perform perception measurement of a first distance of a first target obtained by the second network device performing perception measurement, where the first distance of the first target is the distance between the first target and the second network device.

[0280] Among them, Fig.14In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1410 and various circuits of memory represented by memory 1420 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1400 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, including wireless channels, wired channels, optical cables, and other transmission media. For different user devices, the user interface 1430 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0281] The processor 1410 is responsible for managing the bus architecture and general processing, and the memory 1420 can store data used by the processor 1410 when performing operations.

[0282] Optionally, the processor 1410 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0283] The processor calls the computer program stored in the memory to execute any method provided by the embodiment of the present invention according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0284] In one embodiment, the number of the first target is at least one;

[0285] The processor is also used to read the computer program in the memory and perform the following operations:

[0286] receiving a notification message sent by the second network device when a maximum distance among the first distances of at least one first target obtained by sensing and measuring is greater than a preset distance threshold;

[0287] In response to the notification message, performing a sensing device reselection to determine a third network device and a fourth network device;

[0288] Sending third indication information to the third network device, where the third indication information is used to instruct the third network device to perform perception measurement;

[0289] Send fourth indication information to the fourth network device, and the fourth indication information is used to instruct the fourth network device to perform perception measurement based on a fourth distance of the second target obtained by the third network device performing perception measurement, where the fourth distance of the second target is the distance between the second target and the third network device, and the second target includes the first target.

[0290] It should be noted here that the above-mentioned communication device provided by the embodiment of the present invention can implement all the method steps implemented by the method embodiment applied to the controller in the synaesthesia integration system, and can achieve the same technical effects. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0291] See also Fig.15 , Fig.15 is a structural diagram of another communication device provided by an embodiment of the present invention, such as Fig.15 As shown, the communication device 1500 includes:

[0292] The first receiving module 1501 is used to receive a first parameter of a first target sent by a second network device, where the first parameter includes a first distance; wherein the first distance of the first target is a distance between the first target and the second network device obtained by sensing and measuring after the second network device receives the first reflected signal;

[0293] A first determining module 1502, configured to determine a sensing distance range of a first network device based on a first distance of a first target;

[0294] The second determination module 1503 is used to perform perception measurement within the perception distance range to determine the second parameter of the first target when the second reflected signal is received; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance of the first target and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is a signal of the perception signal sent by the second network device and then reflected by the first target to reach the first network device.

[0295] In one embodiment, the second determining module includes:

[0296] The first determining unit is used to determine a modulation symbol matrix according to the second reflected signal and the perception signal, where the dimension of the modulation symbol matrix is ​​N f Row N t Column, N f is the number of subcarrier samples, N t is the number of OFDM symbol samples;

[0297] A first transform unit is used to perform an inverse discrete Fourier transform IDFT on the column vector of the modulation symbol matrix to obtain a first matrix, where the dimension of the first matrix is ​​the same as the dimension of the modulation symbol matrix;

[0298] A second determining unit, used to determine a target row sequence number range according to the sensing distance range;

[0299] The second transformation unit is used to perform a discrete Fourier transform DFT on the target row vector in the first matrix to obtain a second matrix, wherein the number of columns of the second matrix is ​​the same as the number of columns of the modulation symbol matrix, the number of rows of the second matrix is ​​the number of rows of the target row vector, and the row sequence number in the second matrix is ​​the same as the row sequence number of the target row vector, the second matrix is ​​a matrix representing the relationship between speed and distance, and the target row vector is a row vector within the target row sequence number range;

[0300] The third determining unit is used to determine the second parameter according to the second matrix.

[0301] In one embodiment, the lower limit of the sensing distance range is the fourth distance, the upper limit of the sensing distance range is the fifth distance, the lower limit of the target row number range is the first row number, and the upper limit of the target row number range is the second row number;

[0302] Second determination unit:

[0303] a first row sequence number determining subunit, configured to determine a first row sequence number according to a fourth distance and a pre-acquired distance resolution;

[0304] The second row number determination subunit is used to determine the second row number according to the fifth distance and the distance resolution.

[0305] In one embodiment, the first row serial number is the result of dividing the fourth distance by the distance resolution and rounding down;

[0306] The serial number in the second row is the result of dividing the fifth distance by the distance resolution and rounding up.

[0307] In one embodiment, the third determining unit includes:

[0308] A peak point determination subunit, used to determine a peak point in the second matrix;

[0309] The distance determination subunit is used to determine the distance according to the speed of light, the pre-acquired subcarrier spacing, N f and the column number corresponding to the peak point, determine the target distance of the target corresponding to the peak point, and the target corresponding to the peak point includes the first target.

[0310] In one embodiment, the second parameter further comprises a second speed;

[0311] The third determining unit further includes:

[0312] The speed determination subunit is used to determine the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, and N t and the row number corresponding to the peak point, and determining the second speed of the target corresponding to the peak point.

[0313] In one embodiment, the first parameter further includes a first speed.

[0314] In one embodiment, the communication device 1500 further includes:

[0315] The second receiving module is used to receive first indication information sent by the controller in the synaesthesia integration system, where the first indication information is used to instruct the first network device to perform perception measurement.

[0316] It should be noted here that the above-mentioned communication device provided in the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment applied to the first network device, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0317] See also Fig.16 , Fig.16 is a structural diagram of another communication device provided by an embodiment of the present invention, such as Fig.16 As shown, the communication device 1600 includes:

[0318] The first sending module 1601 is used to send a perception signal;

[0319] The third receiving module 1602 is used to receive a first reflected signal, where the first reflected signal is a signal that reaches the second network device after the sensing signal is reflected by the first target;

[0320] A third determination module 1603 is used to perform target perception measurement according to the first reflection signal to determine a first parameter of the first target, where the first parameter includes a first distance between the first target and the second network device;

[0321] The second sending module 1604 is configured to send the first parameter of the first target to the first network device.

[0322] In one embodiment, the number of the first target is at least one;

[0323] The second sending module 1604 is specifically configured to:

[0324] When a maximum distance among the first distances of the at least one first target is less than or equal to a preset distance threshold, a first parameter of the at least one first target is sent to the first network device.

[0325] In one embodiment, the number of the first target is at least one;

[0326] The communication module also includes:

[0327] The third sending module is used to send a notification message to the controller in the synaesthesia integration system when the maximum distance among the first distances of at least one first target is greater than a preset distance threshold, so that the controller reselects a sensing device.

[0328] In one embodiment, the first parameter further includes a first speed.

[0329] It should be noted here that the above-mentioned communication device provided in the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment applied to the second network device, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0330] See also Fig.17 , Fig.17 is a structural diagram of another communication device provided by an embodiment of the present invention, such as Fig.17 As shown, the communication device 1700 includes:

[0331] The fourth sending module 1701 is used to send second indication information to the second network device, where the second indication information is used to instruct the second network device to perform perception measurement;

[0332] The fifth sending module 1702 is used to send first indication information to the first network device, and the first indication information is used to instruct the first network device to perform perception measurement based on the first distance of the first target obtained by the second network device performing perception measurement, and the first distance of the first target is the distance between the first target and the second network device.

[0333] In one embodiment, the number of the first target is at least one;

[0334] The communication device 1700 further includes:

[0335] A fourth receiving module, configured to receive a notification message sent by the second network device when a maximum distance among the first distances of at least one first target obtained by sensing and measuring is greater than a preset distance threshold;

[0336] A reselection module, configured to perform perception device reselection in response to the notification message to determine the third network device and the fourth network device;

[0337] A sixth sending module, configured to send third indication information to a third network device, where the third indication information is used to instruct the third network device to perform perception measurement;

[0338] The seventh sending module is used to send fourth indication information to the fourth network device, and the fourth indication information is used to instruct the fourth network device to perform perception measurement based on the fourth distance of the second target obtained by the third network device performing perception measurement, the fourth distance of the second target is the distance between the second target and the third network device, and the second target includes the first target.

[0339] It should be noted here that the above-mentioned communication device provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment applied to the controller, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0340] It should be noted that the division of units in the embodiments of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0341] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0342] An embodiment of the present application provides a processor-readable storage medium, which stores a computer program. The computer program is used to enable the processor to execute the perception method provided by the embodiment of the present application, or the computer program is used to enable the processor to execute the perception method provided by the embodiment of the present application.

[0343] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD)), etc.

[0344] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0345] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer executable instructions. These computer executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0346] These processor executable instructions may also be stored in a processor readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0347] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0348] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A sensing method, characterized in that: Applied to a first network device, the method comprises: Receive a first parameter of a first target sent by a second network device, where the first parameter includes a first distance; wherein the first distance of the first target is a distance between the first target and the second network device obtained by sensing and measuring after the second network device receives the first reflected signal; Determining a sensing distance range of the first network device based on a first distance of the first target; When the second reflected signal is received, perception measurement is performed within the perception distance range to determine the second parameter of the first target; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance of the first target and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is a signal of the perception signal sent by the second network device reaching the first network device after being reflected by the first target.

2. The method according to claim 1, characterized in that The step of performing sensing measurement within the sensing distance range to determine a second parameter of the first target when the second reflected signal is received includes: Determine a modulation symbol matrix according to the second reflected signal and the perception signal, wherein the dimension of the modulation symbol matrix is ​​N f Row N t Column, the N f is the number of subcarrier samples, the N t is the number of OFDM symbol samples; Performing an inverse discrete Fourier transform IDFT on the column vector of the modulation symbol matrix to obtain a first matrix, where the dimension of the first matrix is ​​the same as the dimension of the modulation symbol matrix; Determining a target row number range according to the sensing distance range; Performing a discrete Fourier transform DFT on the target row vector in the first matrix to obtain a second matrix, wherein the number of columns of the second matrix is ​​the same as the number of columns of the modulation symbol matrix, the number of rows of the second matrix is ​​the number of rows of the target row vector, and the row sequence number in the second matrix is ​​the same as the row sequence number of the target row vector, the second matrix is ​​a matrix representing the relationship between speed and distance, and the target row vector is a row vector within the target row sequence number range; The second parameter is determined according to the second matrix.

3. The method according to claim 2, characterized in that The lower limit of the sensing distance range is the fourth distance, the upper limit of the sensing distance range is the fifth distance, the lower limit of the target row number range is the first row number, and the upper limit of the target row number range is the second row number; Determining the target row sequence number range according to the sensing distance range includes: Determining the first row sequence number according to the fourth distance and a pre-acquired distance resolution; The second row number is determined according to the fifth distance and the distance resolution.

4. The method according to claim 3, characterized in that The first row serial number is a result of dividing the fourth distance by the distance resolution and rounding down; The second row serial number is a result of dividing the fifth distance by the distance resolution and rounding up.

5. The method according to claim 2, characterized in that: The determining the second parameter according to the second matrix includes: Determining peak points in the second matrix; According to the speed of light, the pre-acquired subcarrier spacing, the N f and the column number corresponding to the peak point, determine the target distance of the target corresponding to the peak point, and the target corresponding to the peak point includes the first target.

6. The method according to claim 5, characterized in that The second parameter also includes a second speed; The determining the second parameter according to the second matrix further includes: According to the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, the N t and the row number corresponding to the peak point, and determining the second speed of the target corresponding to the peak point.

7. The method according to any one of claims 1 to 6, characterized in that The first parameter also includes a first speed.

8. The method according to any one of claims 1 to 6, characterized in that Before receiving the first parameter of the first target sent by the second network device, the method further includes: First indication information sent by a controller in the synaesthesia integration system is received, where the first indication information is used to instruct the first network device to perform perception measurement.

9. A sensing method, characterized in that: Applied to the second network device, the method comprises: Sending perception signals; receiving a first reflected signal, where the first reflected signal is a signal of the sensing signal that reaches the second network device after being reflected by the first target; Perform target perception measurement according to the first reflected signal to determine a first parameter of the first target, where the first parameter includes a first distance between the first target and the second network device; A first parameter of the first target is sent to a first network device.

10. The method according to claim 9, characterized in that The number of the first target is at least one; and the sending the first parameter of the first target to the first network device includes: When a maximum distance among the first distances of the at least one first target is less than or equal to a preset distance threshold, a first parameter of the at least one first target is sent to the first network device.

11. The method according to claim 9 or 10, characterized in that: The number of the first target is at least one, and after performing target perception measurement according to the first reflection signal and determining the first parameter of the first target, the method further includes: When the maximum distance among the first distances of at least one first target is greater than a preset distance threshold, a notification message is sent to a controller in the synaesthesia integration system so that the controller reselects a sensing device.

12. The method according to claim 9, characterized in that The first parameter also includes a first speed.

13. A sensing method, characterized in that: Applied to a controller in a synaesthesia integration system, the method comprises: Sending second indication information to the second network device, where the second indication information is used to instruct the second network device to perform perception measurement; Send first indication information to the first network device, where the first indication information is used to instruct the first network device to perform perception measurement of a first distance of a first target obtained by the second network device performing perception measurement, where the first distance of the first target is the distance between the first target and the second network device.

14. The method according to claim 13, characterized in that The number of the first target is at least one, and after sending the second indication information to the second network device, the method further includes: receiving a notification message sent by the second network device when a maximum distance among the first distances of at least one first target obtained by sensing and measuring is greater than a preset distance threshold; In response to the notification message, performing a sensing device reselection to determine a third network device and a fourth network device; Sending third indication information to the third network device, where the third indication information is used to instruct the third network device to perform perception measurement; Send fourth indication information to the fourth network device, where the fourth indication information is used to instruct the fourth network device to perform perception measurement of a fourth distance of the second target obtained by the third network device performing perception measurement, where the fourth distance of the second target is the distance between the second target and the third network device, and the second target includes the first target.

15. A communication device, characterized in that: include: A memory, a transceiver, and a processor, wherein: The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: Receive a first parameter of a first target sent by a second network device, where the first parameter includes a first distance; wherein the first distance of the first target is a distance between the first target and the second network device obtained by sensing and measuring after the second network device receives the first reflected signal; Determining a sensing distance range of a first network device based on a first distance of the first target; When the second reflected signal is received, perception measurement is performed within the perception distance range to determine the second parameter of the first target; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance of the first target and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is a signal of the perception signal sent by the second network device reaching the first network device after being reflected by the first target.

16. A communication device, characterized in that: include: A memory, a transceiver, and a processor, wherein: The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: Sending perception signals; receiving a first reflected signal, where the first reflected signal is a signal of the sensing signal that reaches the second network device after being reflected by the first target; Perform target perception measurement according to the first reflected signal to determine a first parameter of the first target, where the first parameter includes a first distance between the first target and the second network device; A first parameter of the first target is sent to a first network device.

17. A communication device, characterized in that: include: A memory, a transceiver, and a processor, wherein: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program in the memory and perform the following operations: Sending second indication information to the second network device, where the second indication information is used to instruct the second network device to perform perception measurement; Send first indication information to the first network device, where the first indication information is used to instruct the first network device to perform perception measurement of a first distance of a first target obtained by the second network device performing perception measurement, where the first distance of the first target is the distance between the first target and the second network device.

18. A processor-readable storage medium, characterized in that: The processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the perception method described in any one of claims 1 to 8, or the computer program is used to cause the processor to execute the perception method described in any one of claims 9 to 12, or the computer program is used to cause the processor to execute the perception method described in any one of claims 13 to 14.

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