Method and apparatus for configuring symbol structure of sidelink frame, communication device, storage medium and computer program product

Abstract

The application relates to a symbol structure configuration method and device of a common sensing frame, communication equipment, a storage medium and a computer program product. The method comprises the following steps: determining initial symbol configuration data based on expected sensing overhead, expected sensing distance of a target scene, a total number of symbols of a common sensing frame and a single symbol duration of the common sensing frame; determining target symbol configuration data of the common sensing frame based on performance index requirements of the target scene and the initial symbol configuration data, wherein the performance index at least comprises an expected sensing speed of the target scene, and the common sensing frame is used for transmitting one or more of pulsed waves and continuous waves. By adopting the method, the symbol structure of the common sensing frame can be flexibly configured, various requirements for sensing distance and sensing accuracy in different scenes can be met, the sensing performance of the common sensing frame in different scenes can be effectively improved, and the promotion and implementation of a communication and sensing integrated scheme based on a cellular network are more facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless communication and sensing, in particular to a symbol structure configuration method and device of a sensing frame, a communication device, a storage medium and a computer program product. BACKGROUND

[0002] With the continuous development of communication and sensing integration technology, the application scenarios of communication and sensing integration technology are becoming more and more extensive. For example, it can be applied to air space traffic, ground traffic, water traffic and other fields. Unmanned aerial vehicles, eVTOLs, ground vehicles, watercraft and other aerial vehicles have simultaneous needs for communication and sensing. Communication ensures effective data and communication signal transmission, and sensing ensures the safe movement of targets and compliance with regulatory requirements. Using communication and sensing integration technology to empower widely deployed cellular networks can provide communication and sensing capabilities at the same time, which has the advantages of reducing deployment costs and resisting the limitations of harsh weather environments, poor light, and line-of-sight obstruction.

[0003] In related technologies, in order to realize the design of communication and sensing integration based on a cellular network, meet the sensing capability requirements of different scenarios, and flexibly configure the symbol configuration of the sensing frame structure, it is an urgent problem to be solved. SUMMARY

[0004] The embodiments of the present application provide a symbol structure configuration method, device, communication device, storage medium and computer program product of a sensing frame, which can meet the different sensing capability requirements of different scenarios and realize the flexibility of symbol configuration of the sensing frame structure.

[0005] A symbol structure configuration method of a sensing frame, the method comprising:

[0006] Based on the expected sensing overhead, the expected sensing distance, the total number of symbols of the sensing frame, and the single symbol duration of the sensing frame of the target scenario, determine initial symbol configuration data;

[0007] Based on the performance index requirement of the target scenario and the initial symbol configuration data, determine the target symbol configuration data of the sensing frame, the performance index at least including the expected sensing speed of the target scenario, and the sensing frame at least used for transmitting one or more of pulsed waves and continuous waves.

[0008] In one of the embodiments, the initial symbol configuration data at least contains the number of sensing symbols, and the initial symbol configuration data further includes the number of symbols occupied by the continuous wave and / or the number of symbols occupied by the single pulsed wave.

[0009] In one of the embodiments, the initial symbol configuration data includes a number of symbols occupied by a single pulse wave; and the initial symbol configuration data is determined based on an expected perception overhead of the target scenario, an expected perception distance of the target scenario, a total number of symbols of a common perception frame, and a single symbol duration of the common perception frame, including:

[0010] determining a perception symbol ratio based on the expected perception overhead of the target scenario;

[0011] determining a number of perception symbols based on the perception symbol ratio and the total number of symbols of the common perception frame;

[0012] determining a target number of symbols occupied by a single pulse wave that matches a farthest coverage distance expected by the target scenario based on a receiving duration of a pulse wave and a switching time, the switching time being determined based on hardware attributes, and the receiving duration being pre-configured based on the target scenario.

[0013] In one of the embodiments, the performance indicators further include a missing detection rate, a false alarm rate, a coverage distance accuracy, a coverage distance resolution, a perception speed accuracy, and a perception speed resolution; and the target symbol configuration data of the common perception frame is determined based on the performance indicator requirements of the target scenario and the initial symbol configuration data, including:

[0014] determining a transmitting position of a pulse wave and a receiving window length of the pulse wave based on the expected perception distance of the target scenario;

[0015] determining a transmitting window length of the pulse wave based on a coverage blind area corresponding to the target scenario;

[0016] determining a single pulse duration and a pulse accumulation number based on the missing detection rate and the false alarm rate, the pulse accumulation number being an accumulation number that meets a refresh rate requirement;

[0017] calculating a pulse repetition interval based on an expected perception speed;

[0018] determining a pulse repetition number based on the perception speed accuracy and the perception speed resolution, the pulse repetition number being a repetition number of the pulse wave within a single common perception frame;

[0019] determining the number of symbols occupied by a single pulse wave, the transmitting position of the pulse wave, the transmitting window length of the pulse wave, the receiving window length of the pulse wave, the single pulse duration, the pulse accumulation number, the pulse repetition interval, and the pulse repetition number as the target symbol configuration data.

[0020] In one of the embodiments, the determining the transmitting position of the pulse wave and the receiving window length of the pulse wave based on the expected perception distance of the target scenario includes:

[0021] determine a transmission location of the pulse wave and a length of a receiving window of the pulse wave based on the expected perception distance of the target scene.

[0022] In one of the embodiments, the determining the duration of the single pulse and the number of accumulations of the pulse based on the false alarm rate and the missed detection rate comprises:

[0023] determining a minimum signal-to-noise ratio based on the false alarm rate and the missed detection rate;

[0024] determining the duration of the single pulse and the number of accumulations of the pulse based on a correlation between the minimum signal-to-noise ratio, the expected perception / coverage distance, and the transmission parameter.

[0025] In one of the embodiments, the method further comprises:

[0026] determining a transmission power and a transmission antenna gain based on a correlation between the minimum signal-to-noise ratio, the expected perception / coverage distance, and the transmission parameter.

[0027] In one of the embodiments, the sensing frame is further used to transmit a continuous wave, and the method further comprises:

[0028] calculating a coverage blind area of the pulse wave;

[0029] determining a coverage distance of the continuous wave based on a length of a cyclic prefix, the coverage distance of the continuous wave being used to supplement the coverage blind area of the pulse wave;

[0030] adjusting the duration of the single pulse to obtain an adjusted duration of the single pulse, under a condition that the coverage distance of the continuous wave is greater than or equal to the coverage blind area of the pulse wave.

[0031] In one of the embodiments, the method further comprises:

[0032] transmitting a signal based on the signal transmission mode and the target symbol configuration data corresponding to the sensing frame, the signal at least including the sensing frame, the signal transmission mode being determined based on the target scene.

[0033] In one of the embodiments, the signal transmission mode comprises one or more of the following:

[0034] the first part of the sensing frame transmits the pulse wave, and the second part of the sensing frame transmits the continuous wave;

[0035] the sensing frame transmits the pulse wave;

[0036] the sensing frame transmits the continuous wave;

[0037] the sensing frame transmits the pulse wave, and a next sensing frame of the sensing frame transmits the continuous wave.

[0038] An apparatus for configuring symbol structure of a sensing frame, the apparatus comprising:

[0039] a first determining module configured to determine initial symbol configuration data based on expected sensing overhead, expected sensing distance, total number of symbols of the sensing frame, and single symbol duration of the sensing frame of a target scenario;

[0040] a second determining module configured to determine target symbol configuration data of the sensing frame based on performance index requirement of the target scenario and the initial symbol configuration data, the sensing frame being used for transmitting at least pulse wave.

[0041] A communication device comprising a processor;

[0042] the processor is configured to determine initial symbol configuration data based on expected sensing overhead, expected sensing distance, total number of symbols of the sensing frame, and single symbol duration of the sensing frame of a target scenario;

[0043] the processor is further configured to determine target symbol configuration data of the sensing frame based on performance index requirement of the target scenario and the initial symbol configuration data, the sensing frame being used for transmitting at least pulse wave.

[0044] A computer readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the steps in the embodiments of the present application.

[0045] A computer program product comprising a computer program, the computer program being executed by a processor to implement the symbol structure configuration method of the sensing frame provided by the embodiments of the present application.

[0046] The symbol structure configuration method, apparatus, communication device, storage medium and computer program product of the sensing frame, wherein the method comprises: determining initial symbol configuration data based on expected sensing overhead, expected sensing distance, total number of symbols of the sensing frame, and single symbol duration of the sensing frame of a target scenario; determining target symbol configuration data of the sensing frame based on performance index requirement of the target scenario and the initial symbol configuration data, the performance index at least comprising expected sensing speed of the target scenario, the sensing frame being used for transmitting at least one or more of pulse wave and continuous wave. By adopting the method, the symbol structure of the sensing frame can be flexibly configured to meet various requirements for sensing distance and sensing accuracy in different scenarios, and the sensing performance of the sensing frame in different scenarios can be effectively improved, which is more conducive to the promotion and implementation of the communication and sensing integrated scheme based on the cellular network. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 is a flowchart of the symbol structure configuration method of the sensing frame in one embodiment.

[0048] Figure 2 Flowchart for determining the number of target symbols in one embodiment;

[0049] Figure 3 Flowchart for determining the target symbol configuration data in one embodiment;

[0050] Figure 4 Flowchart for determining the duration and the number of accumulations in one embodiment;

[0051] Figure 5 Flowchart for determining the duration in one embodiment;

[0052] Figure 6 Structure diagram of pulse wave and continuous wave in one embodiment;

[0053] Figure 7 Cover diagram in one embodiment;

[0054] Figure 8 Diagram for sensing blind area R b and sensing coverage maximum distance R max in one embodiment;

[0055] Figure 9 Diagram for sensing coverage maximum distance R max in one embodiment;

[0056] Figure 10 Diagram for the number of pulse waves that can be sent in a sensing frame in one embodiment;

[0057] Figure 11 Diagram for adjusting the sending position of pulse wave in one embodiment;

[0058] Figure 12 Flowchart for parameter adjustment in one embodiment;

[0059] Figure 13 Diagram for adjusting the single pulse sending duration T t in one embodiment;

[0060] Figure 14 Diagram for parameter configuration based on performance index requirements in one embodiment;

[0061] Figure 15 Diagram for the coverage distance of a base station in one embodiment;

[0062] Figure 16 Structure block diagram of symbol structure configuration device of a sensing frame in one embodiment;

[0063] Figure 17 Fig. 1 is a diagram of an internal structure of a communication device in one embodiment. DETAILED DESCRIPTION

[0064] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0065] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0066] The network device in the embodiments of the present application can be a base station (BTS) in Global System of Mobile communication (GSM) or Code Division Multiple Access (CDMA), can be a base station (NodeB, NB) in Wideband Code Division Multiple Access (WCDMA), can be an evolved base station (eNB or eNodeB) in LTE, or can be a relay station or an access point, or a base station in a 5G network, etc., which is not limited herein.

[0067] The terminal in the embodiments of the present application can be a wireless terminal, which can be a device providing voice and / or other service data connectivity to users, or a handheld device with wireless connection function, or other processing devices connected to a wireless modem. The wireless terminal can communicate with one or more core networks via a radio access network (RAN), and can be a mobile terminal, such as a mobile phone (or called "cellular" phone) and a computer with a mobile terminal, for example, a portable, pocket, handheld, built-in or vehicle-mounted mobile device, which exchanges voice and / or data with the radio access network. The wireless terminal can also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, a remote terminal, an access terminal, a user terminal, a user agent, a user device or user equipment, which are not limited herein.

[0068] As the application field of perception integration technology continues to expand, the widely deployed cellular network enabled by perception integration technology can provide communication capability and perception capability at the same time, which has advantages in reducing deployment cost and resisting harsh environment. In order to realize the perception integration of cellular network, and meet the demand of different scenarios for perception capability, flexible configuration is needed from the symbol configuration of perception frame structure. Since there are many application scenarios of communication and perception integration, the demand for perception capability is different in different scenarios, for example, the demand for coverage distance is different in different scenarios, the moving speed of target objects in different scenarios is different, and the demand for speed measurement capability is also different. Based on this, the symbol structure configuration method of the perception frame provided in the embodiments of the present application can determine the waveform type (the waveform can be continuous wave and / or pulse wave) based on the actual application scenario in the configuration of the perception frame structure, that is, based on the characteristics of different waveforms and the reverse symbol configuration, to meet the demand of different scenarios for perception capability.

[0069] The symbol structure configuration method of the common sensing frame provided in the embodiments of the present application is a flexible configuration method of the frame structure symbol according to the sensing ability requirement of different scenes. For example, the configuration of the common sensing frame can be implemented based on the sensing characteristics of the pulse wave and the continuous wave. First, according to the requirement of the maximum sensing distance, the length range of the sensing pulse wave receiving window is determined, the number of symbols required by a pulse wave is determined in combination with the pulse wave transmission duration and the switching time of the receiving and transmitting window, and the theoretical upper limit of the sensing distance is given. Then, according to the requirement of the sensing false alarm rate and the false alarm rate, the signal-to-noise ratio required by sensing is determined, so as to obtain the sensing distance range under different signal-to-noise ratios. By adjusting the signal transmission power, the antenna gain, the signal duration and the like, the signal-to-noise ratio can be further improved, so as to obtain a farther coverage distance. Further, according to the requirement of the resolution, the accuracy and the like of the sensing ranging and the speed measuring, the single pulse duration, the pulse repetition period, the pulse repetition number and the like are flexibly designed. Meanwhile, the single pulse duration will cause the sensing blind area of the near point of the base station, and the near point blind filling capability of the continuous wave needs to be matched. By using the method, the common sensing ability under different scenes can be effectively improved, and the implementation and popularization of the communication and sensing integrated technical solution based on the cellular network are facilitated.

[0070] It should be noted that the beneficial effects or technical problems solved by the embodiments of the present application are not limited to one, but also other implicit or related problems. For details, please refer to the description of the following embodiments.

[0071] The technical solutions of the present application and how the technical solutions solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0072] In one embodiment, as shown in Figure 1 a symbol structure configuration method of a common sensing frame is provided, which can be applied to a terminal or a network device. The specific application scene can be determined. The embodiments of the present application can be described by taking the method applied to a terminal as an example, which includes the following steps.

[0073] In step 102, initial symbol configuration data is determined based on the expected sensing overhead, the expected sensing distance, the total number of symbols of the common sensing frame and the single symbol duration of the common sensing frame of the target scene.

[0074] The target scene can be a scene currently requiring sensing capability configuration, for example, a low-altitude scene, etc. The expected sensing overhead of the target scene can be a sensing resource overhead required by the target scene, or a sensing resource overhead required or limited by the target scene. The expected sensing distance can be a current required or expected coverage distance of the target scene, or a farthest coverage distance of the target scene. The total number of symbols of a communication frame can be the number of symbols possessed by a communication frame, for example, the total number of symbols of a communication frame can be determined based on a time slot of the communication frame and a period of the time slot. The single symbol duration T symbol The initial symbol configuration data can be parameters used to configure the sensing capability of the communication frame by configuring the symbol structure of the communication frame, for example, the initial symbol configuration data can include the number of sensing symbols and the number of symbols occupied by a single pulse wave. The number of sensing symbols N sense The number of symbols occupied by a single pulse wave can be the length of the symbol occupied by a single pulse wave in a communication frame. The number of sensing symbols is less than or equal to the total number of symbols of the communication frame.

[0075] Specifically, after determining the target scene requiring sensing capability configuration, the terminal can obtain the expected sensing overhead, the expected sensing distance, the total number of symbols of the sensing frame, and the single symbol duration of the sensing frame corresponding to the target scene, and based on the above data, calculate the initial symbol configuration data corresponding to the target scene.

[0076] In step 104, based on the performance index requirement of the target scene and the initial symbol configuration data, the target symbol configuration data of the sensing frame is determined.

[0077] The performance index at least includes the expected sensing speed of the target scene, and the sensing frame is at least used to send one or more of a pulse wave and a continuous wave. The performance index is a sensing performance index of the sensing frame used to implement the sensing function; the expected sensing speed of the target scene is the maximum value of the required or limited sensing speed of the target scene, or the actual required sensing speed of the target scene. The sensing frame is a data frame integrating communication function and sensing function, which can send a pulse wave based on the requirement of the target scene, or can be used to send a continuous wave; the sensing frame can also send a part of pulse wave and the remaining part of continuous wave. Optionally, the pulse wave can be a continuous frequency modulation wave LFM, and the continuous wave can be an orthogonal frequency division multiplexing OFDM.

[0078] Specifically, the terminal can obtain the requirement of the performance index of at least one of the target scene and the initial symbol configuration data determined in the above embodiment step for processing, obtain the target symbol configuration data in the target scene, and configure based on the target symbol configuration data to obtain the sensing frame for transmitting signals in the target scene. In this way, the terminal can transmit pulse waves or continuous waves or pulse waves and continuous waves through the configured sensing frame based on the actual demand of the actual application scene.

[0079] In one embodiment, the initial symbol configuration data at least contains the number of sensing symbols, and the initial symbol configuration data further includes the number of symbols occupied by the continuous wave and / or the number of symbols occupied by the single pulse wave.

[0080] Specifically, the number of sensing symbols can be the number of symbols used for implementing sensing function in a plurality of symbols contained in a communication period of the sensing frame, and the number of sensing symbols can be determined based on the expected sensing overhead of the target scene. Based on the total number of symbols of the sensing frame and the number of sensing symbols, the number of communication symbols can be determined, for example, the difference between the total number of symbols and the number of sensing symbols can be determined as the number of communication symbols. The number of symbols occupied by the continuous wave is the number of sensing symbols used for transmitting the continuous wave, and the number of symbols occupied by the single pulse wave is the number of sensing symbols used for transmitting the single pulse wave.

[0081] Optionally, the terminal can determine the proportion of sensing symbols used for transmitting the continuous wave based on the target scene, and determine the number of sensing symbols used for transmitting the continuous wave in a period of the sensing frame based on the proportion and the number of sensing symbols, and determine the number of sensing symbols used for transmitting the pulse wave based on the number of sensing symbols and the number of sensing symbols used for transmitting the continuous wave.

[0082] Alternatively, the terminal can determine the proportion of sensing symbols used for transmitting the pulse wave based on the target scene, and determine the number of sensing symbols used for transmitting the pulse wave in a period of the sensing frame based on the proportion and the number of sensing symbols, and determine the number of sensing symbols used for transmitting the continuous wave based on the number of sensing symbols and the number of sensing symbols used for transmitting the pulse wave.

[0083] Optionally, the corresponding subcarrier spacing of one communication frame period DDDSU can be 129 kHz, the sensing frame contains 5 time slots with a period of 0.625 ms, each symbol T symbol =8.9μs, and the total number of symbols of the corresponding sensing frame can be 79. For example, the expected resource overhead of the target scene can be no more than 30%, and then the terminal determines the number of sensing symbols N sense=20, meaning that out of the 79 symbols contained in the communication frame, 20 symbols can be selected as sensing symbols, and the remaining 59 symbols can be used as communication symbols.

[0084] Optionally, in continuous coverage application scenarios, the terminal can achieve long-distance coverage using pulse waves, with the continuous wave used to cover the near-point blind zone of the pulse. Based on the actual needs of this scenario, the terminal can determine the proportion of sensing symbols used to transmit the pulse wave; for example, this proportion could be three-fifths. Correspondingly, the number of sensing symbols required to transmit the pulse wave would be 12, and the number of sensing symbols required to transmit the continuous wave would be 8. Optionally, the terminal can also, based on the needs of the actual application scenario, transmit all pulse waves in one cycle of the sensing frame, and all continuous waves in the next cycle of the sensing frame, etc.

[0085] In this embodiment, the number of symbols for transmitting pulse waves and the number of sensing symbols for transmitting continuous waves are determined according to the actual needs of the scenario, ensuring the flexibility of the symbol structure configuration and meeting the sensing needs of the scenario.

[0086] In one embodiment, the initial symbol configuration data includes the number of symbols occupied by a single pulse wave. For example... Figure 2 As shown, the step "Determine the initial symbol configuration data based on the expected perception overhead, expected perception distance, total number of symbols in the synesthetic frame, and duration of a single symbol in the synesthetic frame" includes:

[0087] Step 202: Determine the proportion of perception symbols based on the expected perception overhead of the target scene.

[0088] The expected perception overhead of the target scenario can be the perception resource overhead required by the target scenario, or the perception resource overhead required or restricted by the target scenario, that is, the proportion of communication resources expected by the target scenario to realize the perception function.

[0089] Specifically, the terminal can determine the proportion of sensing symbols corresponding to the synesthetic frame based on the proportion of communication resources expected to be used to realize the sensing function in the target scenario. For example, it can convert the proportion of communication resources expected to be used to realize the sensing function in the target scenario to obtain the maximum proportion of sensing symbols in the synesthetic frame.

[0090] In one example, a communication frame period DDDSU corresponds to a subcarrier spacing of 129kHz. This sensing frame contains 5 time slots with a period of 0.625ms each, and each symbol Tsymbol = 8.9μs. The total number of symbols in the corresponding sensing frame can be 79. For example, if the expected resource overhead for the target scenario is no more than 30%, then the proportion of sensing symbols determined by the terminal needs to be less than 30%.

[0091] Step 204, based on the proportion of the sensing symbol, the total number of symbols of the common sense frame, the number of the sensing symbol is determined.

[0092] Specifically, the terminal can calculate the maximum number of the sensing symbol based on the proportion of the sensing symbol and the total number of symbols of the common sense frame in a period, and determine the number of the matched sensing symbol based on the maximum number of the sensing symbol.

[0093] In an example, the sensing symbol can be thirty percent, the total number of symbols of the corresponding common sense frame in a period can be 79, and the maximum number of the calculated sensing symbol can be 23.7, that is, the number of the sensing symbol in the target scene needs to be less than 23.7, and then the terminal can select the number of the sensing symbol N sense =20. The terminal can determine the difference between the total number of symbols and the number of the sensing symbol as the number of the communication symbol, for example, the terminal determines the number of the sensing symbol as 20, and the number of the corresponding communication symbol can be 59. The terminal can select 20 symbols as the sensing symbol in the 79 symbols contained in the communication frame, and the remaining 59 symbols as the communication symbol.

[0094] Step 206, based on the receiving duration of the pulse wave, the switching time, the number of target symbols occupied by the single pulse wave matched with the expected farthest coverage distance of the target scene is determined.

[0095] The switching time is determined based on the hardware attribute, and the receiving duration is determined based on the actual demand of the target scene. The hardware attribute can be determined based on the hardware attribute of the network device used for transmitting the signal. The receiving duration can be configured based on the actual demand of the target scene.

[0096] Specifically, the terminal can determine different numbers of the sensing symbol occupied by a single pulse wave based on the pre-configured receiving duration of the pulse wave and the switching time, and the actual coverage distance respectively corresponding to the different numbers, and based on the actual coverage distance respectively corresponding to the different numbers, match the expected farthest coverage distance of the target scene, and determine the number corresponding to the actual coverage distance greater than the expected farthest coverage distance and having the smallest difference with the expected farthest coverage distance as the number of the sensing symbol occupied by the single pulse; that is, the number of the sensing symbol occupied by the single pulse is matched with the expected farthest coverage distance of the target scene, that is, the terminal transmits a single pulse wave through the number of the sensing symbol in the actual communication process, and the actual coverage distance of the target scene formed by the single pulse wave is capable of meeting the demand of the target scene for the farthest coverage distance, that is, the actual coverage distance of the terminal transmitting the signal in the target scene is greater than or equal to the expected farthest coverage distance of the target scene.

[0097] Optionally, the terminal can determine the farthest coverage distance expected by the target scenario based on actual application requirements of the target scenario, and determine the number of sensing symbols occupied by a single pulse wave. For example, the number of symbols N occupied by a single pulse wave p may be 1, 2, 3, 4, and various non-integers, the pulse transmission duration can be 1-4 microseconds, for example, the pulse duration configured in the actual application scenario can be 2 microseconds, and the switching time can be 1.5 microseconds; then the terminal can calculate N p = 1, the actual coverage distance of the corresponding target scenario can be 1035m; N p = 2, the actual coverage distance of the corresponding target scenario can be 2370m; N p = 3, the actual coverage distance of the corresponding target scenario can be 3705m; N p = 4, the actual coverage distance of the corresponding target scenario can be 5040m; the terminal can select the number of symbols N occupied by a single pulse wave that matches the farthest coverage distance expected by the target scenario p , that is, determine the target symbol number, which represents the number of symbols occupied by the single pulse wave determined by the terminal.

[0098] In this embodiment, the initial symbol configuration data can be used to quickly calculate the actual coverage distance corresponding to different symbol numbers occupied by a single pulse wave, and based on the actual expected farthest coverage distance, the target symbol number that matches the scene requirement is selected, saving communication resource overhead.

[0099] In one of the embodiments, the performance indicators further include a missed detection rate, a false alarm rate, a coverage distance accuracy, a coverage distance resolution, a sensing speed accuracy, and a sensing speed resolution. Specifically, the performance indicators can be configured based on actual application requirements of the target scenario.

[0100] Correspondingly, as shown in Figure 3 , the step of "determining target symbol configuration data of the sensing frame based on performance indicator requirements of the target scenario and initial symbol configuration data" includes:

[0101] Step 301, determining the transmission position of the pulse wave and the length of the reception window of the pulse wave based on the expected sensing distance of the target scenario.

[0102] The expected sensing distance of the target scenario can be the farthest coverage distance expected by the target scenario.

[0103] Specifically, the terminal can adjust the transmission position of the pulse wave in the case of determining the number of symbols occupied by the single pulse wave, for example, can be the transmission position of the pulse wave, determine the position after the advance as the transmission position of the pulse wave, and based on the transmission position of the pulse wave, the corresponding implementation of the increase of the length of the receiving window of the pulse wave, the length of the receiving window of the pulse wave is obtained. Correspondingly, the terminal determines the length of the transmission window of the pulse wave based on the allowed coverage blind area in the target scene.

[0104] Step 302, determining the length of the transmission window of the pulse wave based on the corresponding coverage blind area of the target scene.

[0105] Specifically, the coverage blind area corresponding to the target scene can be the allowed coverage blind area determined based on the demand of the target scene, that is, the distance allowed to be not covered by the target scene; the terminal can determine the length of the transmission window of the pulse wave based on the allowed coverage blind area of the target scene, that is, determine the length of the transmission window of the pulse wave.

[0106] Step 303, determining the duration of the single pulse and the pulse accumulation number based on the miss detection rate and the false alarm rate, the pulse accumulation number being the accumulation number meeting the refresh rate requirement.

[0107] Wherein, the false alarm rate can be the proportion of false alarms, and the miss detection rate and the false alarm rate can be the requirements of the performance indicators of the target scene demand.

[0108] Specifically, the terminal can calculate the minimum signal-to-noise ratio SNR min meeting the performance requirements of the miss detection rate and the performance requirements of the false alarm rate, and can determine the minimum signal-to-noise ratio, the expected perception distance of the target scene, and the correlation between the transmission parameters corresponding to the target scene and the duration of the single pulse and the pulse accumulation number. After determining the minimum signal-to-noise ratio, the expected perception distance and the respective values of each transmission parameter, the correlation is calculated based on the correlation to obtain the duration of the single pulse T t and the pulse accumulation number n.

[0109] Step 304, calculating the pulse repetition interval based on the expected perception speed.

[0110] Specifically, the expected perception speed can be the expected maximum perception speed in the target scene. The pulse repetition interval can be the repetition interval of the perception pulse (which can be denoted as T p ); the terminal can determine the pulse repetition interval based on the maximum perception speed, and in a frame period of the sensing frame, the pulse repetition interval is equivalent to the number of symbols N p occupied by the single pulse wave.

[0111] Step 305, based on the sensing speed accuracy and the sensing speed resolution, determine the pulse repetition number, which is the number of repetitions of the pulse wave within a single sensing frame.

[0112] Specifically, the pulse repetition number is the number of times of transmitting the pulse wave repeatedly within a frame period T of a sensing frame. f The terminal can obtain the performance requirement for the sensing speed accuracy and the performance requirement for the sensing speed resolution in the target scene, determine the sensing signal duration τ, and determine the pulse repetition number M based on the sensing signal duration.

[0113] Step 306, determine the number of symbols occupied by the single pulse wave, the transmission position of the pulse wave, the transmission window length of the pulse wave, the reception window length of the pulse wave, the duration of the single pulse, the pulse accumulation number, the pulse repetition interval, and the pulse repetition number, and configure data for the target symbol.

[0114] Specifically, the terminal can determine the number of symbols occupied by the single pulse wave, the transmission position of the pulse wave, the transmission window length of the pulse wave, the reception window length of the pulse wave, the duration of the single pulse, the pulse accumulation number, the pulse repetition interval, and the pulse repetition number as the target symbol configuration data, and configure the sensing frame based on the target symbol configuration data to obtain the configured sensing frame. In this way, the terminal can transmit the signal of the configured sensing frame.

[0115] It should be noted that the disclosure does not limit the execution order of the above steps 301 to 306, and those skilled in the art can determine the execution order of the above steps based on the actual application scenario.

[0116] In this embodiment, by considering the road loss caused by long distance, considering the requirements of false alarm rate and missed detection rate, and by selecting appropriate single pulse duration and pulse accumulation number, the sensing coverage distance can be reasonably increased, and the signal gain can be improved.

[0117] In one of the embodiments, as shown in Figure 4 , the step of "determining the duration of the single pulse and the pulse accumulation number based on the false alarm rate and the missed detection rate" includes:

[0118] Step 402, determine the minimum signal-to-noise ratio based on the false alarm rate and the missed detection rate.

[0119] Specifically, the terminal can calculate the minimum signal-to-noise ratio SNR min that meets the performance requirements of the false alarm rate and the missed detection rate.

[0120] Step 404: Based on the correlation between the minimum signal-to-noise ratio, the desired sensing / coverage distance, and the transmission parameters, determine the duration of a single pulse and the number of pulses accumulated.

[0121] Wherein, the desired perception / coverage distance can be either the farthest desired perception distance of the target scene or the farthest desired coverage distance R of the target scene. max The duration of a single pulse wave can be the transmission time T of the single pulse wave. t The cumulative pulse count can be the total number of times the pulse wave is transmitted within one communication frame period of the sensing frame. Transmission parameters may include the following: σ represents the scattering cross-section of the sensing target, P... t Indicates the base station's transmit power, G t G represents the transmit antenna gain. r λ represents the receiver antenna gain, λ represents the signal wavelength, L represents the RV processing loss, and NF represents noise and interference. Correlation relationships include those between minimum signal-to-noise ratio, desired sensing / coverage distance, transmission parameters, single pulse duration, and pulse accumulation count.

[0122] Specifically, after determining the minimum signal-to-noise ratio, the expected sensing distance of the target scene, and the transmission parameters corresponding to the target scene, the terminal can calculate the duration T of the single pulse based on this correlation. t And the cumulative number of pulses, n.

[0123] Optionally, the minimum signal-to-noise ratio, desired sensing / coverage distance, and transmission parameters are related to the duration T of a single pulse. t The relationship between pulse accumulation count n and the following formula can be expressed:

[0124]

[0125] In this embodiment, considering the road loss caused by long distances, as well as the requirements for false alarm rate and missed detection rate, the sensing coverage distance can be reasonably increased and the signal gain can be improved by selecting an appropriate single pulse duration and pulse accumulation number.

[0126] In one embodiment, the method further includes:

[0127] Based on the correlation between the minimum signal-to-noise ratio, the desired sensing / coverage distance, and the transmission parameters, the transmit power and transmit antenna gain are adjusted to obtain the adjusted transmit power and transmit antenna gain.

[0128] Specifically, the transmission power can be the base station's transmission power P. t The transmit antenna gain can be G. tThe terminal can obtain the minimum signal-to-noise ratio, the expected sensing / coverage distance, and the transmission parameter and the duration T of the single pulse t and the number of pulse accumulations n, and the transmission parameter at least includes the transmission power and the transmission antenna gain, so that the terminal can adjust the transmission power and the transmission antenna gain based on the association relationship, for example, can increase the transmission power and / or increase the transmission antenna gain, to obtain the adjusted transmission power and the adjusted transmission antenna gain, and through the adjusted transmission power and the adjusted transmission antenna gain, the increase of the sensing coverage distance in the target scene is realized.

[0129] Optionally, the terminal can determine the expected sensing coverage distance to be increased, and calculate the adjusted transmission power and the adjusted transmission antenna gain through the association relationship, the minimum signal-to-noise ratio, the duration T of the single pulse t , the number of pulse accumulations n, and the transmission parameter not including the transmission function and the transmission antenna gain.

[0130] In this embodiment, through the adjustment of the transmission power and the gain of the transmission antenna, the increase of the sensing coverage distance can be realized under the guarantee of the requirement of the performance index, and the demand of the target scene for the coverage distance is better met.

[0131] In one of the embodiments, the sensing frame is also used to transmit the continuous wave, as shown in Figure 5 The method further includes:

[0132] Step 502, calculating the coverage blind area of the pulse wave.

[0133] The blind area of the pulse wave includes the minimum blind area and the maximum blind area.

[0134] Specifically, the terminal can obtain the range of the transmission duration of the pulse wave, which includes the minimum value of the transmission duration and the maximum value of the transmission duration; correspondingly, the terminal can obtain the pulse wave switching time; in this way, the terminal can calculate the minimum blind area of the pulse wave based on the minimum value of the transmission duration of the pulse wave, the pulse wave switching time and the minimum coverage height, and calculate the maximum blind area of the pulse wave based on the maximum value of the transmission duration of the pulse wave, the pulse wave switching time and the minimum coverage height, and the terminal can obtain the coverage blind area of the pulse wave based on the minimum blind area and the maximum blind area.

[0135] Step 504, determining the coverage distance of the continuous wave based on the length of the cyclic prefix, and the coverage distance of the continuous wave is used to supplement the coverage blind area of the pulse wave.

[0136] Specifically, the terminal can calculate the length T cycThe product value between the sound speed c and the first target value, and the quotient value between the product value and the first target value are calculated, and the quotient value is determined as the coverage distance of the continuous wave, that is, the coverage distance R of the continuous wave can be calculated by the following formula c : R c = T cyc × c / 2, wherein the first target value can be 2.

[0137] Step 506, adjusting the duration of the single pulse to obtain the adjusted duration of the single pulse under the condition that the coverage distance of the continuous wave is greater than or equal to the coverage blind area of the pulse wave.

[0138] Specifically, the terminal can only ensure the coverage distance of the continuous wave to be greater than or equal to the coverage blind area of the pulse wave to ensure the blind filling capability of the continuous wave. Therefore, the terminal can adjust the duration of the single pulse to obtain the adjusted duration of the single pulse under the condition that the coverage distance of the continuous wave is greater than or equal to the coverage blind area of the pulse wave, and obtain the adjusted sensing frame based on the adjusted duration of the single pulse.

[0139] In this embodiment, the adjustment of the duration of the single pulse under the condition of the blind filling capability can ensure the accuracy of the adjustment parameter and further improve the transmission performance of the sensing frame.

[0140] In one of the embodiments, the method further includes:

[0141] Based on the signal transmission mode and the target symbol configuration data corresponding to the sensing frame, a signal is transmitted, and the signal at least includes the sensing frame. The signal transmission mode is determined based on a target scene.

[0142] The signal transmission mode includes one or more of the following:

[0143] Case 1, the first part of the sensing frame transmits the pulse wave, and the second part of the sensing frame transmits the continuous wave.

[0144] Case 2, the sensing frame transmits the pulse wave.

[0145] Case 3, the sensing frame transmits the continuous wave.

[0146] Case 4, the sensing frame transmits the pulse wave, and the next sensing frame of the sensing frame transmits the continuous wave.

[0147] Specifically, the terminal can determine the current signal transmission mode based on the requirements of the target scene, and configure the sidelink frame based on the target symbol configuration data of the sidelink frame determined in the above embodiments, and transmit the pulse wave or the continuous wave or the pulse wave and the continuous wave based on the signal transmission mode through the configured sidelink frame. The specific process of transmitting the pulse wave and the continuous wave can be that the terminal transmits the continuous wave through the current sidelink frame and transmits the pulse wave through the next sidelink frame of the current sidelink frame, or the terminal transmits the continuous wave through part of the sidelink frame and transmits the pulse wave through the remaining part of the sidelink frame, and the like.

[0148] In this embodiment, the signal transmission mode adapted to the scene is determined based on the actual requirements of the scene, the integration of sensing and communication is realized, the sensing requirements of different scenes are met, and the comprehensive sensing capability of the sidelink frame is improved.

[0149] In some embodiments, for example, in the scenes of low altitude, ground, water area, etc., in order to realize the integration of sensing and communication based on the cellular network communication, the frame structure of the integration of sensing and communication is needed; for example, based on the acceptable sensing resource overhead, a certain resource is allocated in the communication frame structure for realizing the sensing function. The waveform of the sensing can be selected based on the actual scene; the types of the waveform include the pulse wave and the continuous wave, which can be selected according to the actual coverage range requirement and performance requirement.

[0150] As shown in Figure 6 , it can be a structure diagram of the pulse wave and the continuous wave; the pulse wave is time division, half duplex and full array transmission and reception, for example, communication downlink → sensing transmission → transmission and reception switching → sensing reception → GP → communication uplink. The continuous wave can be simultaneous transmission and reception, full duplex and half array transmission and reception, for example, communication downlink → simultaneous sensing transmission and sensing reception → GP → communication uplink. The pulse wave has a blind area in close-range sensing and is suitable for long-distance sensing. The continuous wave has no close-point sensing blind area, but its self-interference is serious, and the excessive transmission power will cause a large amount of signals to leak from the transmission end to the reception end, affecting the sensing performance. Therefore, under the condition of limited transmission power, the continuous wave is more suitable for close-range sensing.

[0151] When initially considering the sensing coverage distance, the type of waveform to be used needs to be selected according to the application scene: continuous wave, pulse wave, continuous wave and pulse wave. As shown in Figure 7 , the continuous wave can be used to realize close-range coverage, and the pulse wave can be used to realize long-distance coverage.

[0152] The symbol structure configuration method of the sensing frame provided in the embodiment can flexibly configure the symbols of the communication-sensing integrated frame structure, and meet the flexible requirements of different scenes for coverage range and sensing resolution and accuracy and the like. The terminal can determine the required sensing coverage distance range based on the actual requirements of the target scene. The signal transmission power and the antenna gain have an impact on the coverage distance, but the time domain configuration of the signal frame structure determines the upper and lower limits of the coverage distance.

[0153] As shown in Figure 8 , the sensing blind area R b of the pulse wave depends on the pulse transmission time T t and the pulse wave / continuous wave switching time T c . The maximum sensing coverage distance R max of the pulse wave (the farthest coverage distance of the target scene) depends on the switching time T c and the length T r of the pulse wave receiving window.

[0154] As shown in Figure 9 , the continuous wave does not have a near-point coverage blind area, and the maximum coverage distance R max depends on the length T cyc of the cyclic prefix. R max =T cyc ×c / 2; therefore, for the sensing coverage blind area and the farthest distance, the length of the single pulse wave occupied symbol and the pulse wave transmission / reception window can be determined based on the theoretical limits of different waveforms.

[0155] First, the proportion of the sensing symbol and the number N sense of the sensing symbols are determined according to the expected sensing resource overhead of the target scene. The number N p of symbols occupied by a single pulse wave is determined according to the requirements of the farthest coverage distance of the actual application scene and the capability of the pulse wave. The terminal can obtain the duration T symbol of a symbol in a frame structure, and the number N p of symbols occupied by a single pulse wave.

[0156] For a single pulse, the following relationships exist:

[0157] The pulse transmission time T t + the pulse reception time T r + 2 transmission / reception switching time T c ≤T symbol ×N p .

[0158] R max =(T r + T c) x c / 2, c = 3 x 10^8 m / s.

[0159] Based on this, the maximum coverage distance R of the pulse wave can be determined max and the blind area R of the pulse wave b is calculated by the following formula:

[0160] R max = (T symbol x N p - T t - T c ) x c / 2;

[0161] R b = (T t + T c ) x c / 2.

[0162] In this embodiment, the target scene's expectation / demand for R max can be obtained, and the number of symbols N p occupied by a pulse wave can be flexibly set to meet the perception coverage distance requirements of different scenes. Since the more symbols a pulse occupies, the fewer pulse waves can be transmitted in a frame period, which will affect the perception performance. Therefore, the method provided in this embodiment is to select the minimum number of symbols that can meet the perception distance. As shown in Figure 10 , the number of symbols occupied by a pulse wave can be 1, 2, 3, and 4, respectively, and the number of pulse waves that can be transmitted by a corresponding perception frame is shown.

[0163] In the case of a fixed number of symbols occupied by a pulse wave, the pulse wave transmission position can be adjusted, as shown in Figure 11 , to move the pulse transmission window forward and thus increase the length of the receiving window to flexibly adjust the farthest perception distance. The specific adjustment process can be as shown in Figure 12 .

[0164] The terminal obtains the perception resource overhead and limitation requirements, determines the proportion of perception symbols, the number N sense of perception symbols, and determines the total number of symbols occupied by a pulse wave. Based on the farthest coverage distance requirement of the actual application scenario, the length of the pulse wave receiving window is determined, based on the allowed coverage blind area of the actual application scenario, the length of the pulse wave transmission window is determined, and based on the hardware capability, the transmission-reception switching time is determined; then the number N p of symbols occupied by a single pulse wave is determined, and the transmission-reception window position adjustment is implemented.

[0165] Optionally, by adjusting the base station transmission power, transmission antenna gain, etc., the perception coverage distance can be improved while meeting certain false alarm rate and missed detection rate. In the case of fixed transmission power and antenna gain, as shown in Figure 13As shown, the single-pulse transmission duration T can be adjusted. t The gain is increased by the number of cumulative pulses *n*, thereby increasing the sensing coverage distance. The signal duration can be increased by increasing the number of beam scans in a single direction, or the signal transmission length can be increased. With a fixed sensing distance, sensing accuracy can also be improved by increasing the signal-to-noise ratio. For example, the single-pulse transmission duration *T*... t Doubling the SNR will improve it by 3dB. Specifically, the minimum SNR can be determined based on the false alarm rate and false negative rate requirements. min Requirements: Based on the lowest signal-to-noise ratio (SNR) min Parameter configuration is required to meet the maximum coverage distance requirements. Parameter configuration can include adjusting the base station transmit power and transmit antenna gain, or adjusting the single-pulse transmission duration T. t And the cumulative number of times n.

[0166] Furthermore, such as Figure 14 As shown, parameter configuration can be achieved based on specific sensing accuracy and resolution requirements. Specifically, sensing performance requirements can be obtained, including distance accuracy and resolution requirements; speed accuracy and resolution requirements; and maximum speed requirements. Based on the distance accuracy and resolution requirements, speed accuracy and resolution requirements, the signal-to-noise ratio requirement is determined. Based on the speed accuracy, resolution requirements, and maximum speed requirements, the pulse repetition period T is determined. p The number of pulses M is determined based on speed accuracy and resolution requirements; the base station transmit power Pt and transmit antenna gain Gt are determined based on signal-to-noise ratio requirements.

[0167] Specifically, the accuracy of the sensing distance can be calculated using the following formula:

[0168] ,

[0169] Specifically, the sensing distance resolution can be calculated using the following formula:

[0170] ,

[0171] Specifically, the accuracy of the sensing speed can be calculated using the following formula:

[0172] ,

[0173] Specifically, the perceived speed resolution can be calculated using the following formula:

[0174] ,

[0175] Specifically, the maximum unambiguous speed requirement for perception can be calculated using the following formula:

[0176] ,

[0177] Where B is the signal bandwidth, the range accuracy is related to the signal to noise ratio. The velocity resolution is related to the pulse duration (M is the number of pulses, T p is the pulse repetition period), and the velocity accuracy is related to the signal to noise ratio based on this. According to the requirement of the range accuracy, the signal to noise ratio requirement is determined; according to the maximum velocity requirement that can be perceived, the pulse repetition period (interval) T p is designed. In a frame period, the structure of the pulse wave is shown in Figure 11 For example, the single pulse duration T t may be 1-8 microseconds, and the single pulse duration affects the blind area. The longer the time is, the larger the blind area is. However, the larger Tt is, the gain of the pulse wave perception is also improved to a certain extent. When the pulse duration Tt is doubled, the signal to noise ratio is improved by 3dB.

[0178] Based on this, for different target scenes with different requirements, the requirements of the performance indicators such as the expectation of the perception theory, the false alarm rate, the miss detection rate, the accuracy, the resolution, etc. can be determined to determine the final symbol length N p occupied by a pulse, the single pulse duration T t , the pulse transceiver window length and position, the pulse repetition number M in a frame period T f , the pulse repetition interval Tp, and the pulse accumulation number n that meets the refresh rate requirement.

[0179] In a specific low-altitude scene embodiment, the horizontal coverage distance can be 1-1.5km; the coverage height can be 300m-600m. The farthest radial coverage distance is shown in Figure 15 1035m, 1150m, 1525m, and 1605m, respectively. For road traffic scenes, a coverage distance of 2km is usually considered. For marine scenes and the like, a far distance coverage of more than 5km is usually considered, and then the receiving window length needs to be improved to improve the upper limit of the perception distance. For target moving speeds in different scenes, there are also great differences, and unmanned aerial vehicles, cars, and ships usually have different requirements for the speed measurement capability.

[0180] When considering the requirements of the perception performance indicators such as the false alarm rate, the miss detection rate, the accuracy, and the resolution, the minimum signal to noise ratio SNR min= 13dB. The pulse transmission duration is usually 1-4 microseconds, and the minimum blind area can be calculated by the following formula (1+1.5)*300 / 2=375m when the switching time is 1.5 microseconds, and the maximum blind area is (4+1.5)*300 / 2=825m. In order to reduce the blind area, half of the pulse can also be received for sensing. According to the sensing speed resolution and accuracy requirements, the specific pulse wave duration is determined. According to the continuous wave transmission power and performance requirements, the maximum coverage distance of the continuous wave can be obtained. At this time, the blind area of the pulse wave is smaller than the maximum distance that the continuous wave can cover.

[0181] The symbol structure configuration of the sensing frame provided by the embodiment can realize the symbol configuration of the sensing integrated frame structure in different scenarios and index requirement conditions, determine the pulse wave symbol length and pulse wave transmission and reception window based on the sensing distance range requirement, and also realize the configuration scheme of balancing the signal-to-noise ratio, sensing distance and signal duration in different scenarios and coarse-grained sensing index requirement conditions, improve the comprehensive sensing capability, and realize the pulse duration and pulse repetition period configuration method of the pulse wave in the sensing integrated frame structure in the fine-grained index requirement condition based on different scenarios. The performance requirements of the sensing speed can be met under the condition of meeting the signal-to-noise ratio requirements, and the sensing integrated frame structure can be flexibly configured.

[0182] It should be understood that, although Figures 1-15 the steps in the flowchart are shown in sequential order, such that one step necessarily occurs before another, the steps do not have to be executed in the order shown by the arrows. The execution of the steps is not necessarily limited to the order shown in the flowchart unless otherwise specified herein. The steps can be executed in other orders unless otherwise specified herein. Figures 1-15 At least part of the steps in may include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0183] In one embodiment, as shown in Figure 16 a symbol structure configuration device 1600 of a sensing frame is provided, comprising:

[0184] The first determination module 1602 is configured to determine initial symbol configuration data based on the expected sensing overhead, the expected sensing distance, the total number of symbols of the sensing frame, and the single symbol duration of the sensing frame of the target scenario.

[0185] The second determination module 1604 is configured to determine target symbol configuration data of the sensing frame based on the performance index requirement of the target scenario and the initial symbol configuration data, and the sensing frame is at least used for transmitting a pulse wave.

[0186] In one of the embodiments, the initial symbol configuration data at least includes the number of sensing symbols, and the initial symbol configuration data further includes the number of symbols occupied by the continuous wave and / or the number of symbols occupied by the single-pulse wave.

[0187] In one of the embodiments, the initial symbol configuration data includes the number of symbols occupied by the single-pulse wave, and the first determining module is specifically configured to:

[0188] determine the proportion of sensing symbols based on the expected sensing overhead of the target scenario;

[0189] determine the number of sensing symbols based on the proportion of sensing symbols and the total number of symbols of the sensing frame;

[0190] determine the target number of symbols occupied by the single-pulse wave that matches the expected farthest coverage distance of the target scenario based on the receiving duration of the pulse wave and the switching time, wherein the switching time is determined based on the hardware attribute, and the receiving duration is pre-configured based on the target scenario.

[0191] In one of the embodiments, the performance indicators further include the missing detection rate, the false alarm rate, the coverage distance accuracy, the coverage distance resolution, the sensing speed accuracy, and the sensing speed resolution, and the second determining module is specifically configured to:

[0192] determine the sending position of the pulse wave and the receiving window length of the pulse wave based on the expected sensing distance of the target scenario;

[0193] determine the sending window length of the pulse wave based on the coverage blind area corresponding to the target scenario;

[0194] determine the duration of the single pulse and the pulse accumulation number based on the missing detection rate and the false alarm rate, wherein the pulse accumulation number is the accumulation number that meets the refresh rate requirement;

[0195] calculate the pulse repetition interval based on the expected sensing speed;

[0196] determine the pulse repetition number based on the sensing speed accuracy and the sensing speed resolution, wherein the pulse repetition number is the repetition number of the pulse wave within a single sensing frame;

[0197] determine the number of symbols occupied by the single-pulse wave, the sending position of the pulse wave, the sending window length of the pulse wave, the receiving window length of the pulse wave, the duration of the single pulse, the pulse accumulation number, the pulse repetition interval, and the pulse repetition number as the target symbol configuration data.

[0198] In one of the embodiments, the second determining module is further specifically configured to:

[0199] determine a transmitting position of the pulse wave and a receiving window length of the pulse wave based on the expected perception distance of the target scene.

[0200] In one of the embodiments, the second determining module is further specifically configured to:

[0201] determine a minimum signal-to-noise ratio based on the missed detection rate and the false alarm rate;

[0202] determine a duration of a single pulse and a cumulative number of pulses based on an association relationship among the minimum signal-to-noise ratio, the expected perception / coverage distance, and the transmitting parameter.

[0203] In one of the embodiments, the apparatus further includes:

[0204] a third determining module configured to determine a transmitting power and a transmitting antenna gain based on an association relationship among the minimum signal-to-noise ratio, the expected perception / coverage distance, and the transmitting parameter.

[0205] In one of the embodiments, the common perception frame is further configured to transmit a continuous wave, and the apparatus further includes:

[0206] a calculating module configured to calculate a coverage blind area of the pulse wave;

[0207] a fourth determining module configured to determine a coverage distance of the continuous wave based on a length of a cyclic prefix, the coverage distance of the continuous wave being configured to supplement the coverage blind area of the pulse wave;

[0208] an adjusting module configured to adjust the duration of the single pulse to obtain an adjusted duration of the single pulse, under the condition that the coverage distance of the continuous wave is greater than or equal to the coverage blind area of the pulse wave.

[0209] In one of the embodiments, the apparatus further includes:

[0210] a transmitting module configured to transmit a signal based on a signal transmitting mode and the target symbol configuration data corresponding to the common perception frame, the signal at least including the common perception frame, the signal transmitting mode being determined based on the target scene.

[0211] In one of the embodiments, the signal transmitting mode includes one or more of the following:

[0212] the first part of the common perception frame transmits the pulse wave, and the second part of the common perception frame transmits the continuous wave;

[0213] the common perception frame transmits the pulse wave;

[0214] the common perception frame transmits the continuous wave;

[0215] The common sense frame sends a pulse wave, and the next common sense frame of the common sense frame sends a continuous wave.

[0216] The specific definition of the symbol structure configuration device of the common sense frame can refer to the definition of the symbol structure configuration method of the common sense frame in the foregoing, and will not be described here. Each module in the symbol structure configuration device of the common sense frame can be realized by software, hardware and a combination thereof in whole or in part. The above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0217] Figure 17 is a structural schematic diagram of a communication device provided by an embodiment of the application. Figure 17 The communication device 1700 shown includes at least one processor 1701, a memory 1702, and at least one network interface 1704. Each component in the communication device 1700 is coupled together through a bus system 1705. It can be understood that the bus system 1705 is used to realize the connection communication between the components. In addition to including a data bus, the bus system 1705 also includes a power supply bus, a control bus and a status signal bus. However, in order to clearly illustrate, all kinds of buses are marked as the bus system 1705 in the Figure 17 In addition, a transceiver 1706 is further included in the embodiment of the application, and the transceiver can be multiple elements, that is, includes a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium.

[0218] It is to be understood that the memory 1702 in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), an electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or a flash memory. The volatile memory can be a random access memory (Random Access Memory, RAM) used as an external cache. By way of example, but not by way of limitation, many forms of RAM are available, such as static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DRRAM). The memory 1702 of the system and method described in the embodiments of the present application is intended to include, but not limited to, these and any other suitable types of memory.

[0219] In some embodiments, the memory 1702 stores elements, executable modules or data structures, or a subset thereof, or an extended set thereof, such as an operating system 17021. Among them, the operating system 17021 contains various system programs, such as framework layer, core library layer, driver layer, etc., for implementing various basic services and processing hardware-based tasks.

[0220] In the embodiments of the present application, the processor 1701 is caused to determine initial symbol configuration data based on the desired perception overhead of the target scene, the desired perception distance, the total number of symbols of the perception frame and the single symbol duration of the perception frame by calling the programs or instructions stored in the memory 1702; the processor 1701 is also used to determine the target symbol configuration data of the perception frame based on the performance index requirement of the target scene and the initial symbol configuration data, and the perception frame is used at least for transmitting pulse waves.

[0221] Part or all of the methods disclosed in the above embodiments of the present application can also be applied to the processor 1701, and implemented by the processor 1701 or in cooperation with other elements (for example, a transceiver). The processor 1701 can be an integrated circuit chip having a signal processing capability. In the implementation process, each step of the above method can be completed by an integrated logic circuit or an instruction in the form of software in the processor 1701. The processor 1701 described above can be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. Each method, step and logic block disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor. The software module can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable read only memory, a register or other mature storage medium in the art. The storage medium is located in the memory 1702, and the processor 1701 reads the information in the memory 1702 and combines the hardware to complete the steps of the above method.

[0222] It can be understood that the embodiments described in the embodiments of the present application can be realized by hardware, software, firmware, middleware, microcode or a combination thereof. For hardware implementation, the processing unit can be realized in one or more application specific integrated circuits (Application Specific Integrated Circuits, ASICs), digital signal processors (Digital Signal Processing, DSP), digital signal processing devices (DSP Device, DSPD), programmable logic devices (Programmable Logic Device, PLD), field programmable gate arrays (Field-Programmable Gate Array, FPGA), general processors, controllers, microcontrollers, microprocessors, other electronic units for executing functions described in the present application or a combination thereof.

[0223] For software implementation, the techniques disclosed in embodiments of the application can be implemented by using a modularized program, which can be written in the form of a function, a procedure, a subroutine, an object method, or an object implemented by using an operating system, middleware, or a generic application program. The computer program can be stored in the storage and executed by the processor 1701.

[0224] In one embodiment, a computer readable storage medium is provided, having stored thereon a computer program, which when executed by a processor, implements the steps of the embodiments of the present application.

[0225] The embodiments of the present application also provide a computer program product containing instructions, which when executed on a computer, causes the computer to perform the steps of the embodiments of the present application.

[0226] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by using a computer program to instruct related hardware, and the computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the computer program can include the processes of the above-mentioned embodiments of the methods. In the embodiments of the present application, any reference to the memory, storage, database, or other medium can include at least one of the non-volatile and volatile memories. The non-volatile memory can include the read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. The volatile memory can include the random access memory (RAM) or external cache memory. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0227] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0228] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A method for configuring a symbol structure of a general sensing frame, characterized in that, The method comprises: determining initial symbol configuration data based on expected sensing overhead, expected sensing distance of a target scene, total number of symbols of a common sensing frame, and single symbol duration of the common sensing frame; the initial symbol configuration data comprising a number of symbols occupied by a single pulse wave; determining target symbol configuration data of the common sensing frame based on performance index requirements of the target scene and the initial symbol configuration data, the performance index at least comprising expected sensing speed of the target scene, the target symbol configuration data comprising a number of symbols occupied by a single pulse wave, a sending position of a pulse wave, a sending window length of the pulse wave, a receiving window length of the pulse wave, a single pulse duration, a pulse accumulation number, a pulse repetition interval, and a pulse repetition number, the common sensing frame at least being used for sending one or more of a pulse wave and a continuous wave; determining the initial symbol configuration data based on the expected sensing overhead, the expected sensing distance of the target scene, the total number of symbols of the common sensing frame, and the single symbol duration of the common sensing frame comprises: determining a sensing symbol proportion based on the expected sensing overhead of the target scene; determining a number of sensing symbols based on the sensing symbol proportion and the total number of symbols of the common sensing frame; determining a target number of symbols occupied by a single pulse wave matching a farthest coverage distance expected by the target scene based on a receiving duration of a pulse wave and a switching time.

2. The method of claim 1, wherein, The initial symbol configuration data at least comprises the number of sensing symbols, and the initial symbol configuration data further comprises a number of symbols occupied by a continuous wave and / or a number of symbols occupied by a single pulse wave.

3. The method of claim 2, wherein, The switching time is determined based on hardware attributes, and the receiving duration is preconfigured based on the target scene.

4. The method of claim 3, wherein, The performance index further comprises a missed detection rate, a false alarm rate, a coverage distance accuracy, a coverage distance resolution, a sensing speed accuracy, and a sensing speed resolution; and determining the target symbol configuration data of the common sensing frame based on the performance index requirements of the target scene and the initial symbol configuration data comprises: determining the sending position of the pulse wave and the receiving window length of the pulse wave based on the expected sensing distance of the target scene; determining the sending window length of the pulse wave based on a coverage blind area corresponding to the target scene; determining the single pulse duration and the pulse accumulation number based on the missed detection rate and the false alarm rate, the pulse accumulation number being an accumulation number meeting a refresh rate requirement; calculating the pulse repetition interval based on the expected sensing speed; determining the pulse repetition number based on the sensing speed accuracy and the sensing speed resolution, the pulse repetition number being a repetition number of the pulse wave within a single common sensing frame; determining the number of symbols occupied by a single pulse wave, the sending position of the pulse wave, the sending window length of the pulse wave, the receiving window length of the pulse wave, the single pulse duration, the pulse accumulation number, the pulse repetition interval, and the pulse repetition number, as the target symbol configuration data.

5. The method of claim 4, wherein, determining the single pulse duration and the pulse accumulation number based on the missed detection rate and the false alarm rate comprises: determining a minimum signal-to-noise ratio based on the missed detection rate and the false alarm rate; The duration of the single pulse and the number of pulse accumulations are determined based on a minimum signal-to-noise ratio, an expected sensing / coverage distance, and a correlation between transmission parameters.

6. The method of claim 5, wherein, The method further includes: The transmission power and the transmission antenna gain are adjusted based on a minimum signal-to-noise ratio, an expected sensing / coverage distance, and a correlation between transmission parameters, to obtain adjusted transmission power and adjusted transmission antenna gain.

7. The method of claim 5, wherein, The method further includes: A coverage blind area of the pulse wave is calculated; A coverage distance of the continuous wave is determined based on the length of the cyclic prefix, and the coverage distance of the continuous wave is used to supplement the coverage blind area of the pulse wave; The duration of the single pulse is adjusted to obtain an adjusted duration of the single pulse, under the condition that the coverage distance of the continuous wave is greater than or equal to the coverage blind area of the pulse wave.

8. The method of claim 1, wherein, The method further includes: A signal is transmitted based on a signal transmission mode and the target symbol configuration data corresponding to the sense-and-feel frame, and the signal at least includes a sense-and-feel frame; the signal transmission mode is determined based on a target scenario.

9. The method of claim 8, wherein, The signal transmission mode includes one or more of the following: The first part of the sense-and-feel frame transmits a pulse wave, and the second part of the sense-and-feel frame transmits a continuous wave; The sense-and-feel frame transmits a pulse wave; The sense-and-feel frame transmits a continuous wave; The sense-and-feel frame transmits a pulse wave, and the next sense-and-feel frame of the sense-and-feel frame transmits a continuous wave.

10. A symbol structure configuration device for a synesthetic frame, characterized in that, The apparatus includes: A first determination module configured to determine initial symbol configuration data based on an expected sensing overhead, an expected sensing distance of a target scenario, a total number of symbols of a sense-and-feel frame, and a duration of a single symbol of the sense-and-feel frame; the initial symbol configuration data includes a number of symbols occupied by a single pulse wave; A second determination module configured to determine target symbol configuration data of the sense-and-feel frame based on performance index requirements of the target scenario and the initial symbol configuration data; the target symbol configuration data includes a number of symbols occupied by a single pulse wave, a transmission position of a pulse wave, a transmission window length of the pulse wave, a reception window length of the pulse wave, a duration of a single pulse, a number of pulse accumulations, a pulse repetition interval, and a pulse repetition number; the sense-and-feel frame is used at least to transmit a pulse wave; The first determination module is specifically configured to determine a sensing symbol ratio based on the expected sensing overhead of the target scenario; determine a number of sensing symbols based on the sensing symbol ratio and the total number of symbols of the sense-and-feel frame; and determine a target number of symbols occupied by a single pulse wave that matches a farthest coverage distance expected by the target scenario based on a reception duration of the pulse wave and a switching time.

11. A communication device, characterized by It includes: A processor; The processor is configured to determine initial symbol configuration data based on an expected sensing overhead, an expected sensing distance of a target scenario, a total number of symbols of a sense-and-feel frame, and a duration of a single symbol of the sense-and-feel frame; the initial symbol configuration data includes a number of symbols occupied by a single pulse wave; The processor is further configured to determine target symbol configuration data of the common sensing frame based on performance index requirements of a target scene and the initial symbol configuration data, the target symbol configuration data including a number of symbols occupied by a single-pulse wave, a transmission position of the pulse wave, a transmission window length of the pulse wave, a reception window length of the pulse wave, a duration of the single pulse, a pulse accumulation number, a pulse repetition interval, and a pulse repetition number, the common sensing frame being used at least for transmitting the pulse wave; The processor is further configured to determine a sensing symbol proportion based on a desired sensing overhead of the target scene, determine a number of sensing symbols based on the sensing symbol proportion and a total number of symbols of the common sensing frame, and determine a target number of symbols occupied by a single-pulse wave that matches a farthest coverage distance desired by the target scene based on a reception duration of the pulse wave and a switching time.

12. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 9.

13. A computer program product comprising a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 9.

Images