Beam scanning method, sensing transmitting device, sensing receiving device and storage medium
By adopting the beam scanning method in the collaborative perception technology, the perception transmitting device and the perception receiving device work together to determine the target detection area and beam width, the problem of low perception accuracy of the detection target in the perception area is solved, and high-precision perception of different detection areas is achieved.
Patent Information
- Application Number
- CN202311234987.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-22
- Publication Date
- 2025-03-25
AI Technical Summary
In collaborative perception technology, for detection targets at certain locations in the perception area, the scanning and perception accuracy is low, resulting in large errors in positioning results.
By adopting the beam scanning method, the sensing transmitting device transmits a plurality of first beams to scan the sensing area, receives the position indication information sent by the sensing receiving device and the beam identification of the target beam, and determines the target detection area and the target beam. Then, a plurality of second beams are sent in the beam direction of the target beam to scan the detection target, and the beam width of the second beam is determined based on the target detection region and the pre-established correspondence relationship.
By scanning with different widths of beams in different detection areas, different detection areas can be scanned separately in a refined and targeted manner, improving the perceptual accuracy of each detection area in the perception area, and avoiding the differentiation of perceptual accuracy caused by traditional equal-spacing scanning.
Smart Images
Figure CN119696644A_ABST
Abstract
Description
Technical Field
[0001] The embodiments of the present application relate to the field of communication technology, and in particular to a beam scanning method, a sensing transmitting device, a sensing receiving device, and a storage medium. Background Art
[0002] Communication and perception integration uses communication signals to perceive the surrounding environment and obtain information such as target angle, distance, speed, etc. The detection target can be devices and users on the network, or users and objects off the network. Synaesthesia integration can use widely distributed base stations in the existing network for collaborative perception, and the high-power signals of base stations and the high-gain characteristics of base station antennas can expand the perception range. In collaborative perception, one base station acts as a perception transmitting device to send a perception signal to space, and another adjacent base station acts as a perception receiving device to receive the signal reflected by the detection target. After further signal processing of the received signal, the perception target information can be obtained to complete the perception process.
[0003] In collaborative sensing technology, the scanning and sensing accuracy is low for detection targets at certain locations in the sensing area. Figure 1 As shown, under the premise of the same angle measurement and distance measurement errors, the positioning result P1' of point P1 has a larger error than the positioning result P2' of point P2. Summary of the invention
[0004] The embodiments of the present application provide a beam scanning method, a sensing transmitting device, a sensing receiving device and a storage medium.
[0005] The technical solution of the embodiment of the present application is implemented as follows:
[0006] The embodiment of the present application provides a beam scanning method, which is applied to a sensing transmitting device, and the method includes:
[0007] Sending a plurality of first beams to scan the sensing area;
[0008] Receive the position indication information and the beam identifier of the target beam sent by the sensing receiving device; wherein the position indication information is used to indicate a target detection area, the sensing area includes a plurality of detection areas, the target detection area is a detection area where a detection target is located, the target beam is a first beam covering the detection target, and the target beam and the target detection area are determined by the sensing receiving device based on an echo signal generated by the target beam reflected by the detection target;
[0009] In the beam direction of the target beam, multiple second beams are sent to scan the detection target, and the beam width of the second beam is determined based on the target detection area and a pre-established correspondence between the detection area and the beam width.
[0010] In the above method, it also includes:
[0011] Communicate and negotiate with the sensing receiving device, divide the sensing area into the multiple detection areas with different sensing accuracies, and establish the corresponding relationship.
[0012] In the above method, the beam identifier of the target beam is the synchronization signal block SSB number of the target beam.
[0013] In the above method, after sending a plurality of second beams to scan the detection target, the method further includes:
[0014] Receiving a beam identifier of an optimal transmission beam sent by the sensing receiving device; wherein the optimal transmission beam is a second beam that covers the detection target and has the strongest echo signal after being reflected by the detection target;
[0015] The optimal transmission beam is transmitted to detect the detection target, so that the sensing receiving device determines an optimal receiving beam matching the optimal transmission beam.
[0016] The embodiment of the present application provides a beam scanning method, which is applied to a sensing receiving device, and the method includes:
[0017] Receive an echo signal generated by the target beam reflected by the detection target; wherein the target beam is the first beam covering the detection target among multiple first beams sent by the sensing transmitting device to scan the sensing area, and the sensing area includes multiple detection areas;
[0018] Sending position indication information for indicating a target detection area and a beam identifier of the target beam to the sensing transmitting device, wherein the target detection area is a detection area where a detection target is located, and the target beam and the target detection area are determined based on an echo signal generated by the target beam being reflected by the detection target;
[0019] Receive an echo signal generated by at least one second beam reflected by the detection target, wherein the second beam is a beam used by the sensing and transmitting device to scan the detection target, and a beam width of the second beam is determined by the sensing and transmitting device based on the target detection area and a pre-established correspondence between the detection area and the beam width.
[0020] In the above method, after receiving the echo signal generated by at least one second beam reflected by the detection target, the method further includes:
[0021] A beam identifier of an optimal transmission beam is sent to the sensing transmitting device, wherein the optimal transmission beam is a second beam corresponding to a strongest echo signal.
[0022] In the above method, after sending the beam identifier of the optimal transmission beam to the sensing transmitting device, the method further includes:
[0023] In a beam direction opposite to the beam direction of the target beam, a plurality of third beams are sent to receive an echo signal generated by the optimal transmission beam reflected by the detection target, wherein the beam width of the third beam is determined based on the target detection area and the corresponding relationship;
[0024] Based on the intensity of the echo signal generated by the optimal transmission beam reflected by the detection target, an optimal reception beam matching the optimal transmission beam is determined from the plurality of third beams.
[0025] The present application provides a sensing transmission device, including:
[0026] A first sending module, used for sending a plurality of first beams to scan a sensing area;
[0027] A first receiving module is used to receive position indication information and a beam identifier of a target beam sent by a sensing receiving device, wherein the position indication information is used to indicate a target detection area, the sensing area includes a plurality of detection areas, the target detection area is a detection area where a detection target is located, the target beam is a first beam covering the detection target, and the target beam and the target detection area are determined by the sensing receiving device based on an echo signal generated by the target beam reflected by the detection target;
[0028] A first sending module is further used to determine the target detection area based on the position indication information;
[0029] The first sending module is also used to send multiple second beams in the beam direction of the target beam to scan the detection target, and the beam width of the second beam is determined based on the target detection area and the pre-established correspondence between the detection area and the beam width.
[0030] The present application provides a sensing receiving device, including:
[0031] A second receiving module is used to receive an echo signal generated by a target beam reflected by a detection target, wherein the target beam is a first beam covering the detection target among a plurality of first beams sent by a sensing transmitting device to scan a sensing area, and the sensing area includes a plurality of detection areas;
[0032] A second sending module is used to send position indication information indicating a target detection area and a beam identifier of the target beam to the sensing transmitting device, wherein the target detection area is a detection area where a detection target is located, and the target beam and the target detection area are determined based on an echo signal generated by the target beam being reflected by the detection target;
[0033] The second receiving module is also used to receive an echo signal generated by at least one second beam reflected by the detection target, wherein the second beam is a beam used by the sensing and transmitting device to scan the detection target, and the beam width of the second beam is determined by the sensing and transmitting device based on the target detection area and a pre-established correspondence between the detection area and the beam width.
[0034] The embodiment of the present application provides a sensing transmitting device, including: a first processor, a first communication module, a first memory and a first communication bus;
[0035] The first communication bus is used to realize the communication connection between the first processor, the first communication module and the first memory;
[0036] The first processor is used to execute one or more computer programs stored in the first memory, and implement the above-mentioned beam scanning method applied to the sensing transmitting device through the first communication module.
[0037] The embodiment of the present application provides a perception receiving device, including: a second processor, a second communication module, a second memory, and a second communication bus;
[0038] The second communication bus is used to realize the communication connection between the second processor, the second communication module and the second memory;
[0039] The second processor is used to execute one or more computer programs stored in the second memory, and implement the above-mentioned beam scanning method applied to the perception receiving device through the second communication module.
[0040] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned beam scanning method is implemented.
[0041] The embodiment of the present application provides a beam scanning method, a sensing transmitting device, a sensing receiving device and a storage medium. The method applied to the sensing transmitting device includes: sending multiple first beams to scan the sensing area; receiving the position indication information and the beam identification of the target beam sent by the sensing receiving device, wherein the position indication information is used to indicate the target detection area, the sensing area includes multiple detection areas, the target detection area is the detection area where the detection target is located, the target beam is the first beam covering the detection target, and the target beam and the target detection area are determined by the sensing receiving device based on the echo signal generated by the target beam reflected by the detection target; in the beam direction of the target beam, multiple second beams are sent to scan the detection target, and the beam width of the second beam is determined based on the target detection area and the pre-established correspondence between the detection area and the beam width. The technical solution provided by the embodiment of the present application takes into account the differences in geographical locations of different detection areas in the sensing area, and the beam width affects the sensing accuracy. Therefore, by scanning with beams of different widths in different detection areas, different detection areas can be scanned in a refined and targeted manner, so that the perception accuracy differences in different detection areas caused by traditional equidistant scanning can be avoided, and the perception accuracy of each detection area in the sensing area can be improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] Figure 1 An exemplary positioning error diagram provided in an embodiment of the present application;
[0043] Figure 2 A schematic diagram of a beam scanning method provided in an embodiment of the present application Figure 1 ;
[0044] Figure 3 An exemplary detection area division schematic diagram provided in an embodiment of the present application;
[0045] Figure 4 A schematic diagram of a beam scanning method provided in an embodiment of the present application Figure 2 ;
[0046] Figure 5 A schematic diagram of an exemplary wide beam scanning scenario provided in an embodiment of the present application;
[0047] FIG6(a) is a schematic diagram of an exemplary narrow beam scanning scenario provided in an embodiment of the present application. Figure 1 ;
[0048] FIG. 6( b ) is a schematic diagram of an exemplary narrow beam scanning scenario provided in an embodiment of the present application. Figure 2 ;
[0049] Figure 7 A schematic diagram of a sensing transmitting device provided in an embodiment of the present application Figure 1 ;
[0050] Figure 8 A schematic diagram of a sensing transmitting device provided in an embodiment of the present application Figure 2 ;
[0051] Fig. 9 A schematic diagram of a sensing receiving device provided in an embodiment of the present application Figure 1 ;
[0052] Fig.10 A schematic diagram of a sensing receiving device provided in an embodiment of the present application Figure 2 . DETAILED DESCRIPTION
[0053] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.
[0054] The following will specifically describe the technical solution of the present application and how the technical solution of the present application solves the above technical problems through embodiments and in conjunction with the accompanying drawings. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.
[0055] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.
[0056] An embodiment of the present application provides a beam scanning method, and related equipment for executing the method includes a sensing transmitting device and a sensing receiving device, wherein the sensing transmitting device and the sensing receiving device can be electronic devices such as base stations and terminal devices, and the embodiment of the present application does not limit this.
[0057] Figure 2 A schematic diagram of a beam scanning method provided in an embodiment of the present application Figure 1 .like Figure 2 As shown, in an embodiment of the present application, the beam scanning method applied to the sensing transmitting device mainly includes the following steps:
[0058] S101. Send multiple first beams to scan a sensing area.
[0059] In an embodiment of the present application, the sensing transmitting device may send multiple first beams to scan the sensing area.
[0060] It should be noted that, in the embodiments of the present application, the sensing area may be the area covered by the beam emitted by the sensing transmitting device, and the specific size and position of the sensing area are not limited in the embodiments of the present application.
[0061] It should be noted that in the embodiment of the present application, when a sensing demand occurs, the sensing transmitting device can send multiple first beams to the sensing area through a synchronization broadcast block (Synchronization Signal / PBCH, SSB) to scan the sensing area, wherein the multiple first beams are multiple beams with the same beam width. Exemplarily, the sensing transmitting device can transmit a beam width of 30 ° The 4 beams scan the sensing area, and the beam width is 30 ° The specific beam width and number of beams can be set according to actual needs and application scenarios, and are not limited in the embodiments of the present application.
[0062] S102. Receive the position indication information and the beam identifier of the target beam sent by the sensing receiving device, wherein the position indication information is used to indicate the target detection area, the sensing area includes multiple detection areas, the target detection area is the detection area where the detection target is located, the target beam is the first beam covering the detection target, and the target beam and the target detection area are determined by the sensing receiving device based on an echo signal generated by the target beam reflected by the detection target.
[0063] In an embodiment of the present application, after sending multiple first beams to scan the sensing area, the sensing transmitting device may receive the position indication information and the beam identifier of the target beam sent by the sensing receiving device.
[0064] It should be noted that in the embodiment of the present application, the sensing area includes a detection area where the detection target is located in the multiple detection areas, namely the target detection area, and the detection target can be any object, such as a vehicle, a drone, etc. The sensing transmitting device sends multiple first beams to scan the sensing area, and the beam directions of the first beams can be different, wherein the target beam covers the detection target, and is reflected by the detection target, and the sensing receiving device receives the echo signal of the target beam reflected by the detection target, which can be used to determine the target detection area and the target beam.
[0065] It should be noted that, in the embodiment of the present application, the position indication information may specifically be an area identifier of a target detection area.
[0066] It should be noted that, in the embodiment of the present application, the beam identifier of the target beam is the SSB number of the target beam.
[0067] S103: Send multiple second beams in the beam direction of the target beam to scan the detection target, and the beam width of the second beam is determined based on the target detection area and a pre-established correspondence between the detection area and the beam width.
[0068] In an embodiment of the present application, after the sensing transmitting device receives the position indication information and the beam identifier of the target beam, it can send multiple second beams in the beam direction of the target beam to scan the detection target.
[0069] It can be understood that, in the embodiments of the present application, the position indication information is used to indicate a target detection area including a detection target. Therefore, the sensing transmitting device can determine the target detection area by identifying the position indication information.
[0070] It can be understood that in the embodiments of the present application, taking into account the differences in geographical locations of different detection areas in the perception area, the beam width affects the perception accuracy. Therefore, by scanning in different detection areas with beams of different widths, different detection areas can be scanned in a refined and targeted manner. This can avoid the differences in perception accuracy in different detection areas due to traditional equally spaced scanning, and improve the perception accuracy of each detection area in the perception area.
[0071] In the embodiment of the present application, the sensing transmitting device can communicate and negotiate with the sensing receiving device to divide the sensing area into multiple detection areas with different sensing accuracies, and establish a corresponding relationship between the detection area and the beam width. Figure 3 , the sensing area can be divided into multiple detection areas, where parts with the same background belong to the same detection area, and the specific detection areas divided are not limited in the embodiments of this application. It should be noted that the sensing accuracy requirement for the detection area in the middle is usually higher, and the sensing accuracy requirement for the detection areas close to the upper and lower sides is lower, and the corresponding relationship of the beam width can be set based on this.
[0072] It can be understood that in the embodiments of the present application, the perception area is divided into multiple detection areas with different perception accuracy, and a corresponding beam width is set for each detection area. For example, for the detection area with lower perception accuracy, the corresponding beam width is set narrower than that of the detection area with higher perception accuracy. The narrower the beam width, the better the directionality and the stronger the anti-interference ability.
[0073] It can be understood that in the embodiment of the present application, since the target beam is the first beam covering the detection target, the sensing transmitting device can accurately cover the detection target by sending multiple second beams in the beam direction of the target beam.
[0074] In an embodiment of the present application, after the sensing transmitting device sends multiple second beams to scan the detection target, the following steps can also be performed: receiving the beam identifier of the optimal transmitting beam sent by the sensing receiving device, wherein the optimal transmitting beam is the second beam that covers the detection target and has the strongest echo signal after being reflected by the detection target; sending the optimal transmitting beam to scan the detection target for detection, so that the sensing receiving device determines the optimal receiving beam that matches the optimal transmitting beam.
[0075] It can be understood that in the embodiment of the present application, after the sensing transmitting device sends multiple second beams to scan the detection target, the sensing receiving device can receive the echo signal generated by at least one second beam reflected by the detection target, thereby determining the second beam with the strongest echo signal as the optimal transmission beam, and indicating it to the sensing transmitting device. In this way, the sensing transmitting device can continue to send the optimal transmission beam to detect the detection target, so as to support the sensing receiving device to determine the optimal receiving beam, realize the accurate pairing of the optimal transmission beam and the optimal receiving beam, and thus improve the sensing performance.
[0076] Figure 4 A schematic diagram of a beam scanning method provided in an embodiment of the present application Figure 2 .like Figure 4 As shown, in an embodiment of the present application, the beam scanning method applied to the sensing receiving device mainly includes the following steps:
[0077] S201. Receive an echo signal generated by a target beam reflected by a detection target, wherein the target beam is a first beam covering the detection target among multiple first beams sent by a sensing transmitting device to scan a sensing area, and the sensing area includes multiple detection areas.
[0078] In an embodiment of the present application, the sensing receiving device may receive an echo signal generated by the target beam being reflected by the detection target.
[0079] It should be noted that, in the embodiment of the present application, multiple first beams can be sent to the sensing area in different beam directions, wherein the target beam covers the detection target and is reflected by the detection target, and the sensing receiving device can use the omnidirectional beam to receive the generated echo signal. In addition, the beam widths of the multiple first beams are the same.
[0080] S202. Sending position indication information for indicating a target detection area and a beam identifier of a target beam to a sensing transmitting device. The target detection area is a detection area where a detection target is located. The target beam and the target detection area are determined based on an echo signal generated by the target beam reflected by the detection target.
[0081] In an embodiment of the present application, after receiving the echo signal generated by the target beam reflected by the detection target, the sensing receiving device can send the position indication information indicating the target detection area and the beam identifier of the target beam to the sensing transmitting device.
[0082] It should be noted that, in the embodiments of the present application, the sensing receiving device can determine the target detection area where the detection target is located, and the target beam based on the echo signal generated by the target beam reflected by the detection target. Specifically, the target detection area can be determined according to the reception time of the echo signal. For example, the longer the reception time, the farther the detection area is from the sensing receiving device. In addition, the sensing transmitting device can send multiple first beams via SSB. The echo signal generated by any beam after reflection still carries its corresponding SSB number. The sensing receiving device can determine the target beam based on the SSB number carried by the echo signal. In addition, the receiving angle of the echo signal can be measured to determine the target detection area based on the transmission angle and the receiving angle. The specific method for determining the target detection area and the target beam is not limited in the embodiments of the present application.
[0083] S203. Receive an echo signal generated by at least one second beam reflected by the detection target, wherein the second beam is a beam used by the sensing and transmitting device to scan the detection target, and a beam width of the second beam is determined by the sensing and transmitting device based on a target detection area and a pre-established correspondence between the detection area and the beam width.
[0084] In an embodiment of the present application, after the perception receiving device sends the position indication information indicating the target detection area and the beam identifier of the target beam to the perception transmitting device, the perception transmitting device can send multiple second beams with beam widths corresponding to the target detection area in the beam direction of the target beam. Correspondingly, the perception receiving device can receive an echo signal generated by at least one second beam reflected by the detection target.
[0085] It is understandable that there are differences in the geographical locations of different detection areas in the perception area, and the perception receiving device has different perception accuracy for different detection areas. In the embodiment of the present application, the perception receiving device indicates the target detection area and the target beam to the perception transmitting device. In this way, the perception receiving device can send multiple second beams with a beam width corresponding to the target detection area in the beam direction of the target beam, and scan and detect the target in a targeted manner. For specific related content, please refer to the method steps on the perception transmitting device side, which will not be repeated here.
[0086] It should be noted that, in the embodiment of the present application, the sensing receiving device can communicate and negotiate with the sensing transmitting device to divide the sensing area into the plurality of detection areas with different sensing accuracies, and set a corresponding beam width for each detection area. Figure 3The sensing area can be divided into multiple detection areas, and the specific detection areas divided are not limited in the embodiment of the present application. Based on this, the sensing receiving device indicates the target detection area to the sensing transmitting device, and the sensing transmitting device can directly determine the corresponding beam width.
[0087] In an embodiment of the present application, after the sensing receiving device receives the echo signal generated by at least one second beam reflected by the detection target, the following steps can also be performed: sending the beam identifier of the optimal transmitting beam to the sensing transmitting device, wherein the optimal transmitting beam is the second beam corresponding to the strongest echo signal.
[0088] It can be understood that in the embodiments of the present application, the sensing transmitting device sends multiple second beams with beam widths corresponding to the target detection area to scan and detect the target. Correspondingly, the sensing receiving device can receive an echo signal generated by at least one beam reflected by the detection target, thereby indicating the second beam corresponding to the strongest echo signal as the optimal transmitting beam to the sensing transmitting device.
[0089] In an embodiment of the present application, after the sensing receiving device sends the beam identifier of the optimal transmitting beam to the sensing transmitting device, the following steps can also be performed: in a beam direction opposite to the beam direction of the target beam, multiple third beams are sent to receive the echo signal generated by the optimal transmitting beam after being reflected by the detection target, wherein the beam width of the third beam is determined based on the target detection area and the corresponding relationship; based on the echo signal strength generated by the received optimal transmitting beam after being reflected by the detection target, an optimal receiving beam matching the optimal transmitting beam is determined from the multiple third beams.
[0090] It is understandable that in the embodiments of the present application, the sensing receiving device can send multiple third beams with beam widths corresponding to the target detection area, and cooperatively detect the echo signal generated by the optimal transmission beam sent by the sensing transmitting device after being reflected by the detection target, thereby determining the optimal receiving beam based on the echo signal to achieve accurate beam matching. Among them, the optimal receiving beam can be the beam with the strongest signal among the multiple third beams.
[0091] In an embodiment of the present application, the optimal transmitting beam and the optimal receiving beam can be used to sense the detection target, and the sensing receiving device or other signal processing unit senses the position of the detection target based on the arrival angle and delay of the echo signal.
[0092] The beam scanning method provided in the embodiment of the present application actually involves two stages. The first stage is the wide beam scanning stage, that is, through the transmission of the above-mentioned multiple first beams, the sensing receiving device determines the target detection area and target beam containing the detection target and indicates it to the sensing transmitting device. The second stage is the narrow beam scanning stage. The sensing transmitting device and the sensing receiving device adjust the beam width based on the target detection area to perform precise beam pairing. In collaborative perception, the beam width is bound to the detection area, and different detection areas use different scanning beam widths to provide differentiated scanning capabilities, avoiding the difference in perception accuracy in different detection areas due to traditional equally spaced beam scanning, achieving high-precision collaborative perception in the entire perception area, and improving perception accuracy.
[0093] The above beam scanning method is exemplarily described below in conjunction with a specific beam scanning scenario, and mainly includes the following steps:
[0094] S1, the sensing transmitting device and the sensing receiving device divide the sensing area into Figure 5 There are two detection areas shown: detection area 1 and detection area 2. The beam width corresponding to the negotiated detection area 1 is 10°, and the beam width corresponding to the detection area 2 is 15°.
[0095] S2, the sensing demand occurs, entering the first stage, the sensing transmitting device sends {SSB1, SSB2, SSB3, SSB4} wide scanning beams to the sensing area, and the width of each beam is 30°;
[0096] S3. The sensing receiving device uses an omnidirectional beam to receive the echo signal generated by the reflection of the detection target. Figure 5 As shown, for the {SSB1, SSB3} scanning area, there are detection target 1 and detection target 2, and the receiving device receives the echo signals generated by the SSB1 and SSB3 beams reflected by the detection targets;
[0097] S4. The sensing receiving device obtains the corresponding detection area based on the echo signals generated by SSB1 and SSB3 reflected by the detection target. The sensing receiving device determines the corresponding detection area 2 based on SSB1 and determines the corresponding detection area 1 based on SSB3;
[0098] S5. The sensing receiving device binds the location indication information with the SSB number {(SSB1, detection area = 2, (SSB3, detection area = 1)} and sends it to the sensing transmitting device;
[0099] S6. The sensing transmitting device determines the narrow beam width and direction of the second stage.
[0100] Referring to FIG6(a) and FIG6(b), for detection target 1 (SSB1, detection area = 2), the second stage uses beam {TxB1_1, TxB1_2} for fine scanning, and the beam width is 15°; for detection target 2 (SSB3, detection area = 1), the second stage uses beam {TxB3_1, TxB3_2, TxB3_3} for fine scanning, and the beam width is 10°;
[0101] S7, the sensing receiving device feeds back the optimal transmission beam number {TxB1_2} of the detection target 1 and the optimal transmission beam number {TxB2_2} of the detection target 2;
[0102] S8. The sensing transmitting device transmits based on the optimal transmission beam, and the sensing receiving device adopts the coordinated detection beam according to the detection area:
[0103] As shown in FIG6(a) and FIG6(b), for detection target 1, it is {RxB1_1, RxB1_2}, and the beam width is 15°; for detection target 2, it is {RxB3_1, RxB3_2, RxB3_3}, and the beam width is 10°;
[0104] S9. The sensing receiving device selects the optimal receiving beams {RxB1_2} and {RxB3_2} to complete fine beam pairing.
[0105] S10. The sensing receiving device receives the echo signal of the sensing detection target, and the sensing receiving device or the signal processing unit senses the position of the detection target based on the signal arrival angle and delay.
[0106] An embodiment of the present application provides a sensing transmission device. Figure 7 A schematic diagram of a sensing transmitting device provided in an embodiment of the present application Figure 1 .like Figure 7 As shown, the sensing transmitting device includes:
[0107] A first sending module 301 is used to send multiple first beams to scan the sensing area;
[0108] A first receiving module 302 is used to receive position indication information and a beam identifier of a target beam sent by a sensing receiving device, wherein the position indication information is used to indicate a target detection area, the sensing area includes a plurality of detection areas, the target detection area is a detection area where a detection target is located, the target beam is a first beam covering the detection target, and the target beam and the target detection area are determined by the sensing receiving device based on an echo signal generated by the target beam reflected by the detection target;
[0109] The first sending module 301 is further used to send multiple second beams in the beam direction of the target beam to scan the detection target, and the beam width of the second beam is determined based on the target detection area and the pre-established correspondence between the detection area and the beam width.
[0110] In one embodiment of the present application, the first sending module 301 and the first receiving module 302 are further used to communicate and negotiate with the perception receiving device, divide the perception area into the multiple detection areas with different perception accuracy, and establish the corresponding relationship.
[0111] In an embodiment of the present application, the beam identifier of the target beam is the synchronization signal block SSB number of the target beam.
[0112] In an embodiment of the present application, the first receiving module 302 is further configured to receive a beam identifier of an optimal transmission beam sent by the sensing receiving device, wherein the optimal transmission beam is a second beam that covers the detection target and has the strongest echo signal after being reflected by the detection target;
[0113] The first sending module 301 is further used to send the optimal sending beam to detect the detection target, so that the sensing receiving device determines the optimal receiving beam that matches the optimal sending beam.
[0114] Figure 8 A schematic diagram of a sensing transmitting device provided in an embodiment of the present application Figure 2 .like Figure 8 As shown, the sensing transmitting device includes: a first processor 401, a first communication module 402, a first memory 403 and a first communication bus 404;
[0115] The first communication bus 404 is used to realize the communication connection between the first processor 401, the first communication module 402 and the first memory 403;
[0116] The first processor 401 is used to execute one or more computer programs stored in the first memory 403, and implement the beam scanning method applied to the sensing transmitting device through the first communication module 402.
[0117] An embodiment of the present application provides a perception receiving device. Fig. 9 A schematic diagram of a sensing receiving device provided in an embodiment of the present application Figure 1 .like Fig. 9 As shown, the sensing receiving device includes:
[0118] The second receiving module 501 is used to receive an echo signal generated by a target beam reflected by a detection target, wherein the target beam is a first beam covering the detection target among a plurality of first beams sent by a sensing transmitting device to scan a sensing area, and the sensing area includes a plurality of detection areas;
[0119] A second sending module 502 is used to send position indication information indicating a target detection area and a beam identifier of the target beam to the sensing transmitting device, wherein the target detection area is a detection area where the detection target is located, and the target beam and the target detection area are determined based on an echo signal generated by the target beam being reflected by the detection target;
[0120] The second receiving module 501 is also used to receive an echo signal generated by at least one second beam reflected by the detection target, wherein the second beam is a beam used by the sensing and transmitting device to scan the detection target, and the beam width of the second beam is determined by the sensing and transmitting device based on the target detection area and a pre-established correspondence between the detection area and the beam width.
[0121] In one embodiment of the present application, the second sending module 502 is further used to send a beam identifier of an optimal transmission beam to the sensing transmitting device, wherein the optimal transmission beam is the second beam corresponding to the strongest echo signal.
[0122] In an embodiment of the present application, the second sending module 502 is further configured to send a plurality of third beams in a beam direction opposite to the beam direction of the target beam to receive an echo signal generated by the optimal transmission beam reflected by the detection target, wherein the beam width of the third beam is determined based on the target detection area and the corresponding relationship;
[0123] The second receiving module 501 is further configured to determine an optimal receiving beam matching the optimal transmitting beam from the multiple third beams based on the intensity of an echo signal generated by the optimal transmitting beam being received and reflected by the detection target.
[0124] Fig.10 A schematic diagram of a sensing receiving device provided in an embodiment of the present application Figure 2 .like Fig.10 As shown, the sensing receiving device includes: a second processor 601, a second communication module 602, a second memory 603 and a second communication bus 604;
[0125] The second communication bus 604 is used to implement a communication connection between the second processor 601 and the second memory 603;
[0126] The second processor 601 is used to execute one or more computer programs stored in the second memory 603, and implement the beam scanning method applied to the perception receiving device through the second communication module 602.
[0127] The embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the above-mentioned beam scanning method when executed by a processor. The computer-readable storage medium may be a volatile memory (volatile memory), such as a random access memory (Random-Access Memory, RAM); or a non-volatile memory (non-volatile memory), such as a read-only memory (Read-Only Memory, ROM), a flash memory (flash memory), a hard disk (Hard Disk Drive, HDD) or a solid-state drive (Solid-State Drive, SSD); or it may be a respective device including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc.
[0128] 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 hardware embodiments, software embodiments, or embodiments 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.
[0129] The present application is described with reference to implementation flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program 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 process in the flowchart. 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.
[0130] These computer program instructions may also be stored in a computer-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 computer-readable memory produce a manufactured product including an instruction device, which is implemented in the implementation flow diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing the steps in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0132] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the utility application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A beam scanning method, characterized in that: Applied to a sensing transmitting device, the method comprises: Sending a plurality of first beams to scan the sensing area; Receive position indication information and a beam identifier of a target beam sent by a sensing receiving device, wherein the position indication information is used to indicate a target detection area, the sensing area includes a plurality of detection areas, the target detection area is a detection area where a detection target is located, the target beam is a first beam covering the detection target, and the target beam and the target detection area are determined by the sensing receiving device based on an echo signal generated by the target beam reflected by the detection target; In the beam direction of the target beam, multiple second beams are sent to scan the detection target, and the beam width of the second beam is determined based on the target detection area and a pre-established correspondence between the detection area and the beam width.
2. The method according to claim 1, characterized in that The method further comprises: Communicate and negotiate with the sensing receiving device, divide the sensing area into the multiple detection areas with different sensing accuracies, and establish the corresponding relationship.
3. The method according to claim 1, characterized in that The beam identifier of the target beam is the synchronization signal block SSB number of the target beam.
4. The method according to claim 1, characterized in that: After sending a plurality of second beams to scan the detection target, the method further includes: Receiving a beam identifier of an optimal transmission beam sent by the sensing receiving device, wherein the optimal transmission beam is a second beam that covers the detection target and has the strongest echo signal after being reflected by the detection target; The optimal transmission beam is transmitted to detect the detection target, so that the sensing receiving device determines an optimal receiving beam matching the optimal transmission beam.
5. A beam scanning method, characterized in that: Applied to a sensing receiving device, the method comprises: Receive an echo signal generated by a target beam reflected by a detection target, wherein the target beam is a first beam covering the detection target among a plurality of first beams sent by a sensing transmitting device to scan a sensing area, and the sensing area includes a plurality of detection areas; Sending position indication information for indicating a target detection area and a beam identifier of the target beam to the sensing transmitting device, wherein the target detection area is a detection area where a detection target is located, and the target beam and the target detection area are determined based on an echo signal generated by the target beam being reflected by the detection target; Receive an echo signal generated by at least one second beam reflected by the detection target, wherein the second beam is a beam used by the sensing and transmitting device to scan the detection target, and a beam width of the second beam is determined by the sensing and transmitting device based on the target detection area and a pre-established correspondence between the detection area and the beam width.
6. The method according to claim 5, characterized in that After receiving the echo signal generated by at least one second beam reflected by the detection target, the method further includes: A beam identifier of an optimal transmission beam is sent to the sensing transmitting device, wherein the optimal transmission beam is a second beam corresponding to a strongest echo signal.
7. The method according to claim 6, characterized in that After sending the beam identifier of the optimal transmission beam to the sensing transmitting device, the method further includes: In a beam direction opposite to the beam direction of the target beam, a plurality of third beams are sent to receive an echo signal generated by the optimal transmission beam reflected by the detection target, wherein the beam width of the third beam is determined based on the target detection area and the corresponding relationship; Based on the intensity of the echo signal generated by the optimal transmission beam reflected by the detection target, an optimal reception beam matching the optimal transmission beam is determined from the plurality of third beams.
8. A sensing transmitting device, characterized in that: include: A first sending module, used for sending a plurality of first beams to scan a sensing area; A first receiving module is used to receive position indication information and a beam identifier of a target beam sent by a sensing receiving device, wherein the position indication information is used to indicate a target detection area, the sensing area includes a plurality of detection areas, the target detection area is a detection area where a detection target is located, the target beam is a first beam covering the detection target, and the target beam and the target detection area are determined by the sensing receiving device based on an echo signal generated by the target beam reflected by the detection target; The first sending module is also used to send multiple second beams in the beam direction of the target beam to scan the detection target, and the beam width of the second beam is determined based on the target detection area and the pre-established correspondence between the detection area and the beam width.
9. A sensing receiving device, characterized in that: include: A second receiving module is used to receive an echo signal generated by a target beam reflected by a detection target, wherein the target beam is a first beam covering the detection target among a plurality of first beams sent by a sensing transmitting device to scan a sensing area, and the sensing area includes a plurality of detection areas; A second sending module is used to send position indication information indicating a target detection area and a beam identifier of the target beam to the sensing transmitting device, wherein the target detection area is a detection area where a detection target is located, and the target beam and the target detection area are determined based on an echo signal generated by the target beam being reflected by the detection target; The second receiving module is also used to receive an echo signal generated by at least one second beam reflected by the detection target, wherein the second beam is a beam used by the sensing and transmitting device to scan the detection target, and the beam width of the second beam is determined by the sensing and transmitting device based on the target detection area and a pre-established correspondence between the detection area and the beam width.
10. A sensing transmitting device, characterized in that: include: A first processor, a first communication module, a first memory and a first communication bus; The first communication bus is used to realize the communication connection between the first processor, the first communication module and the first memory; The first processor is used to execute one or more computer programs stored in the first memory, and implement the beam scanning method described in any one of claims 1-4 through the first communication module.
11. A sensing receiving device, characterized in that: include: A second processor, a second communication module, a second memory, and a second communication bus; The second communication bus is used to realize the communication connection between the second processor, the second communication module and the second memory; The second processor is used to execute one or more computer programs stored in the second memory, and implement the beam scanning method described in any one of claims 5-7 through the second communication module.
12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the beam scanning method according to any one of claims 1 to 7 is implemented.