Cooperative sensing method, node and storage medium

Abstract

Provided in an embodiment of the present application are a cooperative sensing method, node and storage medium, the method comprising: sending first information to a second node, the first information comprising a first sensing parameter and / or a first signal parameter, the first sensing parameter being used for indicating a first two-dimensional spectrum scale required for sensing measurement and estimation, and the first signal parameter being used for indicating a second two-dimensional spectrum scale required for sensing measurement and estimation; the first signal parameter is used for indicating the resource configuration of the sensing signal. In the embodiment of the invention, the first node sends the related information of the sensing signal to the second node, so that the second node can perform sensing processing on the sensing signal sent by the first node based on the first information, and information support is provided for implementation of sensing measurement and estimation.

Description

Technical Field

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

[0002] Wireless sensing is one of the important enabling technologies for future 6G mobile communication systems. Resolution is an important indicator for measuring perception performance. Resolution includes distance resolution, angular resolution, speed resolution, etc. Among them, angular resolution refers to the minimum distinguishable angle when two targets are at the same distance. The angular resolution is limited by the aperture of the array. When the antenna array is a uniform linear array (ULA), the relationship between the angular resolution Δθ and the number of antennas P is: sin(Δθ)=λ / (2dP)=1 / P. The distance resolution ΔR refers to the minimum distinguishable distance between point targets, which is related to the effective bandwidth B of the signal: ΔR=c / (2B). Here, λ is the signal wavelength, d represents the distance between two adjacent antennas, and c represents the speed of light.

[0003] In perception measurement and estimation, there is no clear solution in the existing technology on how to interact with each other in super-resolution ranging and angle measurement parameter information. Summary of the invention

[0004] At least one embodiment of the present application provides a collaborative perception method, a node, and a storage medium, which interacts with super-resolution ranging and angle measurement parameter information between nodes to achieve perception measurement and estimation.

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

[0006] In a first aspect, an embodiment of the present application provides a collaborative sensing method, applied to a first node, including:

[0007] Sending first information to the second node, the first information including a first perception parameter and / or a first signal parameter, the first perception parameter being used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter being used to indicate a resource configuration of a perception signal.

[0008] Optionally, the first two-dimensional spectrum scale includes a first distance domain grid number and a first angle domain grid number; the resource configuration of the perception signal includes at least one of the following: total bandwidth of orthogonal frequency division multiplexing OFDM signal, cyclic prefix CP length, and number of subcarriers.

[0009] Optionally, before sending the first information to the second node, the method further includes:

[0010] Calculating the number of grids in the first distance domain according to the required values ​​of the distance resolution and / or the ranging accuracy;

[0011] The number of grids in the first angle domain is calculated according to the required values ​​of the angle resolution and / or the angle measurement accuracy.

[0012] Optionally, before sending the first information to the second node, the method further includes:

[0013] The first signal parameter is determined according to the first distance domain grid number.

[0014] Optionally, the above method further includes:

[0015] A first perceptual signal is sent based on the first signal parameter.

[0016] Optionally, after sending the first information to the second node, the method further includes:

[0017] receiving second information sent by the second node, where the second information includes at least one of the following:

[0018] first indication information of whether the number of first distance domain grids needs to be adjusted;

[0019] An adjustment target value of the number of grid cells in the first distance domain;

[0020] The adjustment amplitude value of the first distance domain grid number;

[0021] second indication information of whether the first signal parameter needs to be adjusted;

[0022] an adjustment target value of a first signal parameter;

[0023] The adjustment amplitude value of the first signal parameter.

[0024] Optionally, the above method further includes:

[0025] Sending third information to the second node, where the third information includes at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter;

[0026] The third indication information is used to indicate whether the first perception parameter is updated according to the second information; the second perception parameter is used to indicate the perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated according to the second information, and the second signal parameter is used to indicate the signal parameter obtained after the first signal parameter is updated;

[0027] A second perceptual signal is sent based on the second signal parameter.

[0028] In a second aspect, an embodiment of the present application provides a collaborative sensing method, which is applied to a second node, including:

[0029] Receive first information sent by a first node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

[0030] Optionally, the first two-dimensional spectrum scale includes a first distance domain grid number and a first angle domain grid number; the resource configuration of the perception signal includes at least one of the following: total bandwidth of orthogonal frequency division multiplexing OFDM signal, cyclic prefix CP length, and number of subcarriers.

[0031] Optionally, the above method further includes:

[0032] Receiving a first perception signal sent by the first node;

[0033] The first perception signal is perception-processed according to the first perception parameter and / or the first signal parameter to obtain a first perception result, where the first perception result includes a first distance measurement result and a first angle measurement result.

[0034] Optionally, performing perception processing on the first perception signal according to the first perception parameter includes:

[0035] When the number of receiving antennas of the second node is less than the first angle domain grid number, a first two-dimensional spectrum is established in which the angle domain grid number is the first angle domain grid number and the distance domain grid number is the first distance domain grid number, and the first perception signal is processed based on the first two-dimensional spectrum and the first ranging and angle measurement algorithm to obtain a first perception result;

[0036] When the number of receiving antennas of the second node is greater than or equal to the first angle domain grid number, a second two-dimensional spectrum is established in which the angle domain grid number is the number of receiving antennas and the distance domain grid number is the first distance domain grid number, and the first perception signal is processed based on the second two-dimensional spectrum and the second ranging and angle measurement algorithm to obtain a first perception result.

[0037] Optionally, the first ranging and angle measurement algorithm is a super-resolution ranging and angle measurement algorithm, and the super-resolution ranging and angle measurement algorithm includes a compressed sensing algorithm and a multi-signal classification MUSIC algorithm;

[0038] The second distance measurement and angle measurement algorithm is a general distance measurement and angle measurement algorithm, and the general distance measurement and angle measurement algorithm includes a two-dimensional fast Fourier transform 2D-FFT algorithm.

[0039] Optionally, the above method further includes:

[0040] Obtaining an evaluation value of distance resolution and / or distance measurement accuracy according to the first ranging result;

[0041] Determine second information according to the evaluation value of the distance resolution and / or ranging accuracy and the required value of the distance resolution and / or ranging accuracy, and send the second information to the first node; wherein the second information includes at least one of the following:

[0042] first indication information of whether the number of first distance domain grids needs to be adjusted;

[0043] An adjustment target value of the number of grid cells in the first distance domain;

[0044] The adjustment amplitude value of the first distance domain grid number;

[0045] second indication information of whether the first signal parameter needs to be adjusted;

[0046] an adjustment target value of a first signal parameter;

[0047] The adjustment amplitude value of the first signal parameter.

[0048] Optionally, the above method further includes:

[0049] Obtaining an evaluation value of angle resolution and / or angle measurement accuracy according to the first angle measurement result;

[0050] Determining whether the number of angle domain grids needs to be adjusted according to the evaluation value of the angle resolution and / or angle measurement accuracy and the required value of the angle resolution and / or angle measurement accuracy;

[0051] When the angle domain grid number needs to be adjusted, the angle domain grid number is adjusted from the first angle domain grid number to the second angle domain grid number.

[0052] Optionally, the above method further includes:

[0053] receiving third information sent by the first node, where the third information includes at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter; the third indication information is used to indicate whether the first perception parameter is updated according to the second information; the second perception parameter is used to indicate a perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated according to the second information, and the second signal parameter is used to indicate a signal parameter obtained after the first signal parameter is updated;

[0054] Receiving a second perception signal sent by the first node;

[0055] A second perception parameter and / or a second signal parameter is determined according to the third information, and perception processing is performed on the second perception signal to obtain a second perception result, where the second perception result includes a second distance measurement result and a second angle measurement result.

[0056] In a third aspect, an embodiment of the present application provides a first node, including a transceiver and a processor, wherein:

[0057] The transceiver is used to send first information to the second node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

[0058] In a fourth aspect, an embodiment of the present application provides a first node, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the method described in the first aspect.

[0059] In a fifth aspect, an embodiment of the present application provides a second node, including a transceiver and a processor, wherein:

[0060] The transceiver is used to receive first information sent by a first node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

[0061] In a sixth aspect, an embodiment of the present application provides a second node, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the method described in the second aspect.

[0062] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program is stored. When the program is executed by a processor, the steps of the method described above are implemented.

[0063] Compared with the prior art, the collaborative perception method, node and storage medium provided in the embodiments of the present application enable the first node to send relevant information of the perception signal to the second node, so that the second node can perform perception processing on the perception signal sent by the first node based on the first information, thereby providing information support for the implementation of perception measurement and estimation. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0065] Figure 1 is an example diagram of the distance domain grid number in the related art;

[0066] Figure 2 An example diagram of redundant dictionary matrix construction in related art;

[0067] Figure 3 An example diagram of a collaborative sensing system model of related technology;

[0068] Figure 4 A flowchart of the collaborative sensing method according to an embodiment of the present application;

[0069] Figure 5 Another flow chart of the collaborative sensing method according to an embodiment of the present application;

[0070] Figure 6 This is a schematic diagram of the structure of a first node according to an embodiment of the present application;

[0071] Figure 7 A schematic diagram of the structure of a first node according to another embodiment of the present application;

[0072] Figure 8 This is a schematic diagram of the structure of a second node according to an embodiment of the present application;

[0073] Fig. 9 This is a schematic diagram of the structure of a second node in another embodiment of the present application;

[0074] Fig.10 This is a schematic structural diagram of a first node in yet another embodiment of the present application;

[0075] Fig.11 This is a schematic diagram of the structure of the second node of another embodiment of the present application. DETAILED DESCRIPTION

[0076] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0077] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable in appropriate circumstances, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment. "And / or" in the specification and claims represents at least one of the connected objects.

[0078] The following description provides examples and does not limit the scope, applicability, or configuration set forth in the claims. Changes may be made to the functions and arrangements of the elements discussed without departing from the spirit and scope of the present disclosure. Various examples may appropriately omit, replace, or add various procedures or components. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0079] Services such as Internet of Vehicles and autonomous driving need to obtain the target position by estimating the distance and angle of the target, which puts higher and higher requirements on the distance and angle measurement capabilities of the perception system. As 6G will develop towards higher frequency bands (millimeter wave, terahertz, visible light, etc.), the signal bandwidth will increase and the distance resolution will be improved to meet the perception requirements. However, in order to ensure the orthogonality between the echo signals of multiple targets, the transmitter needs to ensure the cyclic prefix (CP) length N of the orthogonal frequency division multiplex (OFDM) signal sequence when designing the signal. CP The relationship between the distance domain grid number L satisfies N CP ≥L-1. Figure 1 As shown, the number of grids in the distance domain L is the width R along the distance w The ratio of the distance resolution ΔR (related to the main lobe illumination distance of the antenna array). In addition, the number of subcarriers N of the OFDM signal is also required. sc ≥ L. In this paper, the distance domain grid can also be called a distance resolution unit, and the angle domain grid can also be called an angle resolution unit.

[0080] To improve the angular resolution, it is necessary to increase the number of antennas to increase the antenna aperture. However, due to the principles of lightweight, small size and low-cost antenna deployment, the number of antennas is usually limited, which means that the angular resolution cannot be significantly improved by increasing the number of antennas. Super-resolution angle measurement is a new type of angle measurement method. Through algorithms such as compressed sensing, the angular resolution can be improved by sparse array when the number of antenna elements is limited. Specifically, the receiver can design a distance-angle two-dimensional dictionary matrix (two-dimensional spectrum), where the number of grids in the distance domain is L, and the number of grids in the angle domain is P. Through the trimmed Fourier transform, the dictionary matrix is ​​expanded in the angle domain to construct a redundant dictionary matrix with a basis (dimension H) greater than the number of antennas, such as Figure 2 As shown in the figure. Since the number of grids in the angle domain H (H>P) in the redundant dictionary matrix is ​​much larger than the number of targets to be measured, the compressed sensing algorithm can be used to search the redundant dictionary matrix to obtain the angle estimate. The angle resolution at this time becomes (sin(Δθ sup )=1 / H, which is increased to the original H / P times, thus achieving super-resolution angle measurement.

[0081] For angle measurement, in theory, the number of angle domain grids of the redundant dictionary matrix can be infinitely expanded to achieve infinitesimal angular resolution. However, considering practical applications, an excessively large number of angle domain grids H will lead to excessively high data processing overhead, which will increase the computational complexity. Therefore, the second node (such as the receiving base station of the perception signal) should select an appropriate number of angle domain grids H as needed when performing angle measurement estimation. For ranging, the first node (such as the sending base station of the perception signal) needs to generate the perception signal OFDM sequence based on the distance domain grid number L, and the second node needs to establish a two-dimensional spectrum based on L when processing the signal, and both the transmitting and receiving nodes need to obtain L. In such a case, Figure 3 In the cooperative sensing system shown, since the transceiver base stations are not co-located, signaling interaction is required so that the sender and receiver can reach an agreement on the selection of these two parameters. In addition, since the target location and sensing environment are unknown, the transmitting base station obtains the sensing parameters according to the sensing resolution and / or sensing accuracy requirements, and then configures the sensing signal, which may not meet the sensing resolution and / or sensing accuracy requirements after receiving, processing, and measuring. At this time, the transceiver base stations need to interact with each other to adjust the sensing parameters and the sensing signal configuration to finally meet the requirements.

[0082] To solve at least one of the above problems, the embodiment of the present application provides a collaborative sensing method, which provides information support for the implementation of sensing measurement and estimation by exchanging relevant information of sensing measurement and estimation between nodes. Figure 4 , a collaborative sensing method provided in an embodiment of the present application, when applied to a first node side, includes:

[0083] Step 41: Send first information to the second node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

[0084] Here, the first node may be a sending node of a perception signal, and the second node may be a receiving node of a perception signal. The first node and the second node may be base stations, roadside equipment, transceiver points (TRPs) and other equipment. The base station may be a base station of 5G and later versions (for example, gNB, 5G NR NB, etc.), or a base station in other communication systems (for example, eNB, WLAN access point, or other access points, etc.). The base station may be referred to as a node B, an evolved node B, an access point, a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a node B, an evolved node B (eNB), a home node B, a home evolved node B, a WLAN access point, a WiFi node or some other suitable term in the field. As long as the same technical effect is achieved, the base station is not limited to specific technical vocabulary. It should be noted that in the embodiments of the present application, only the base station in the NR or 6G system is taken as an example, but the specific type of the base station is not limited. In the embodiment of the present application, the first node and the second node may be a node cluster that has formed a collaborative node (such as a collaborative base station cluster), and the sensing target does not participate in the sensing process.

[0085] Optionally, the first node may send the first information through a physical downlink control channel (PDCCH), for example, through downlink control information (DCI). The first perception parameter is used to indicate the first two-dimensional spectrum scale, which includes the first distance domain grid number L and the first angle domain grid number H, and can be represented by SensingParaInit. The value can be INTEGER (1, 2, ...), that is, L and H can be a positive integer or a set of multiple positive integers. The first signal parameter is used to indicate the resource configuration of the perception information, which may specifically include at least one of the following: signal parameters such as the total bandwidth, length, and number of subcarriers of the OFDM signal. The resource configuration of the perception information may be a set of the above-mentioned signal parameters, represented by SensingResourceInit, and the value may be a positive number.

[0086] In this embodiment of the present application, the first node may also send a first perception signal based on the first signal parameter for the second node to perform perception measurement and estimation.

[0087] Through the above steps, the first node sends relevant information of the perception signal to the second node, so that the second node can perform perception processing on the perception signal sent by the first node based on the first information, thereby providing information support for the implementation of perception measurement and estimation.

[0088] Before the above step 41, the first node may also calculate the first distance domain grid number according to the required value of the distance resolution and / or the required value of the distance measurement accuracy; and calculate the first angle domain grid number according to the required value of the angle resolution and / or the required value of the angle measurement accuracy.

[0089] For example, the first node obtains the perception requirement from the high layer, and the perception requirement may be the required value of the distance resolution and / or the required value of the ranging accuracy, as well as the required value of the angle resolution and / or the required value of the angle accuracy, etc. Then, according to the perception requirement, the number of distance domain grids and the number of angle domain grids of the two-dimensional spectrum scale are calculated. Specifically, assuming that the required value of the distance resolution (also referred to as the ranging resolution) is ΔR, the number of distance domain grids (number of distance resolution units) can be calculated as L=R w / ΔR; Assuming that the required value of the angular resolution (also called the angular measurement resolution) is Δθ, the number of angle domain grids (angle domain grid number) can be calculated to be H = 1 / sin(Δθ).

[0090] In the embodiment of the present application, before the above step 41, the first node may also determine the first signal parameter according to the first distance domain grid number. Specifically, the time domain CP length, the number of subcarriers in the frequency domain and the total bandwidth of the OFDM signal of the OFDM sequence may be configured according to the first distance domain grid number L, wherein the CP length N CP Satisfy N CP ≥L-1, the number of subcarriers is N sc Satisfy N sc ≥L, the total bandwidth B satisfies B≥c / (2ΔR).

[0091] The first node determines a first perception parameter and / or a first signal parameter according to a preset perception requirement, and sends a first perception signal based on the first signal parameter. Taking into account the influence of noise or obstacles in the signal transmission process, the perception result obtained by the second node based on the perception measurement of the first perception signal may not meet the perception requirement. At this time, the second node can judge whether it is necessary to adjust the number of distance domain grids, the number of angle domain grids, and the resource configuration of the perception signal according to the evaluation value of the perception result, and send the second information to the first node according to the judgment result. At this time, after step 41, the first node also receives the second information sent by the second node, and the second information may specifically include at least one of the following:

[0092] (1) first indication information of whether the number of grid cells in the first distance domain needs to be adjusted;

[0093] (2) a first target value for adjusting the number of distance domain grids. For example, assuming that the target value for adjusting the number of distance domain grids is 100, it means adjusting the number of distance grids to 100;

[0094] (3) an adjustment amplitude value of the first distance domain grid number. For example, assuming that the adjustment amplitude value of the distance domain grid number is 20, and the distance domain grid number indicated by the first perception parameter in step 41 is 80, it means that the distance grid number is adjusted to 80+20=100;

[0095] (4) second indication information of whether the first signal parameter needs to be adjusted;

[0096] (5) an adjustment target value of the first signal parameter. For example, assuming that the adjustment target value of the number of subcarriers is 10, it means that the number of subcarriers is adjusted to 10;

[0097] (6) The adjustment amplitude value of the first signal parameter. For example, assuming that the adjustment amplitude value of the CP length is 10, and the CP length indicated by the first signal parameter in step 41 is 20, it means that the CP length is adjusted to 20+10=30.

[0098] Furthermore, the first node may also determine whether it is necessary to update the first perception parameter and / or the first signal parameter based on the second information, and update the corresponding parameters when updating is required.

[0099] For example, the first node can update the number of distance domain grids in the first perception parameter based on the second information to obtain an updated perception parameter (referred to herein as the second perception parameter); and / or, update the first signal parameter based on the second information to obtain an updated signal parameter (referred to herein as the second signal parameter).

[0100] After updating the corresponding parameters, the first node may send third information to the second node, and send a second perception signal based on the second signal parameter. Here, the third information includes at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter;

[0101] Among them, the third indication information is used to indicate whether the first perception parameter is updated based on the second information; the second perception parameter is used to indicate the perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated based on the second information, and the second signal parameter is used to indicate the signal parameter obtained after the first signal parameter is updated.

[0102] In order to reduce the overhead of information transmission, the third information may only include the third indication information and the second signal parameter, so that the second node can know whether the first node has updated the perception parameter according to the second information based on the third indication information. If the perception parameter has been updated, the second node can determine the updated second perception parameter based on the second information and the previous first perception parameter, so that the second perception parameter does not need to be carried in the third information.

[0103] Please refer to Figure 5 The collaborative sensing method provided in the embodiment of the present application, when applied to the second node side, includes:

[0104] Step 51: Receive first information sent by a first node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

[0105] Here, the first two-dimensional spectrum scale may include a first distance domain grid number and a first angle domain grid number; the resource configuration of the perception signal includes at least one of the following: OFDM signal total bandwidth, cyclic prefix CP length, number of subcarriers, etc.

[0106] Through the above steps, the second node can obtain the first perception parameter and / or the first signal parameter, and then can perform perception measurement and estimation on the perception signal sent by the first node based on the above parameters, thereby providing information support for the implementation of perception measurement and estimation.

[0107] Specifically, the second node can receive the first perception signal sent by the first node, and perform perception processing on the first perception signal according to the first perception parameter and / or the first signal parameter to obtain a first perception result, where the first perception result includes a first ranging result and a first angle measurement result.

[0108] When performing perception processing, the second node compares the number of its own receiving antennas with the number of grids in the first angle domain, and performs different processing according to the comparison result:

[0109] (1) When the number of receiving antennas of the second node is less than the first angle domain grid number, a first two-dimensional spectrum is established in which the angle domain grid number is the first angle domain grid number and the distance domain grid number is the first distance domain grid number, and the first sensing signal is processed based on the first two-dimensional spectrum and the first ranging and angle measurement algorithm to obtain a first sensing result. Here, the first ranging and angle measurement algorithm can be a super-resolution ranging and angle measurement algorithm such as a compressed sensing algorithm or a multiple signal classification (Multiple Signal Classification, MUSIC) algorithm.

[0110] (2) When the number of receiving antennas of the second node is greater than or equal to the first angle domain grid number, a second two-dimensional spectrum is established in which the angle domain grid number is the number of receiving antennas and the distance domain grid number is the first distance domain grid number, and the first perception signal is processed based on the second two-dimensional spectrum and a second ranging and angle measurement algorithm to obtain a first perception result. Here, the second ranging and angle measurement algorithm is a general ranging and angle measurement algorithm such as a two-dimensional fast Fourier transform (2D-FFT).

[0111] After obtaining the first perception result, the second node may obtain an evaluation value of the distance resolution and / or the ranging accuracy according to the first ranging result. Then, according to the evaluation value of the distance resolution and / or the ranging accuracy and the required value of the distance resolution and / or the ranging accuracy, determine second information, and send the second information to the first node; wherein the second information includes at least one of the following:

[0112] (1) first indication information of whether the number of grid cells in the first distance domain needs to be adjusted;

[0113] (2) the target value for adjusting the number of grid cells in the first distance domain;

[0114] (3) The adjustment amplitude value of the number of grid cells in the first distance domain;

[0115] (4) second indication information of whether the first signal parameter needs to be adjusted;

[0116] (5) an adjustment target value of the first signal parameter;

[0117] (6) The adjustment amplitude value of the first signal parameter.

[0118] For example, the first indication information can be represented by a variable SensingParaFeedback with a length of 1 bit, and its type and value range are BIT STRING (YES-1, NO-0). Similarly, the second indication information can also be represented by a variable with a length of 1 bit. The adjustment target value of the distance domain grid number can be represented by RangeParaRequest, and its type and value range can be INTEGER (1, 2, ...). Similarly, the adjustment amplitude value of the distance domain grid number and the adjustment target value / adjustment amplitude value of the resource configuration of the perception signal can also be represented by predefined variables.

[0119] In addition, the second node can also obtain an evaluation value of the angle resolution and / or angle measurement accuracy according to the first angle measurement result. Then, according to the evaluation value of the angle resolution and / or angle measurement accuracy and the required value of the angle resolution and / or angle measurement accuracy, it is determined whether the angle domain grid number needs to be adjusted; if the angle domain grid number needs to be adjusted, the angle domain grid number is adjusted from the first angle domain grid number to the second angle domain grid number. For example, if the angle domain grid number needs to be adjusted, the second node can adjust it by itself, for example, by changing the direction of the receiving beam, changing the angle (rotation angle) of the antenna array, etc.

[0120] After sending the above-mentioned second information, the second node may receive third information sent by the first node, where the third information includes at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter; the third indication information is used to indicate whether the first perception parameter is updated according to the second information; the second perception parameter is used to indicate a perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated according to the second information, and the second signal parameter is used to indicate a signal parameter obtained after the first signal parameter is updated;

[0121] Then, the second node receives the second perception signal sent by the first node.

[0122] For example, when the third information includes the second signal parameter, the second signal parameter can be directly obtained according to the third information. For another example, when the third information includes the fourth indication information, when the fourth indication information indicates that the first signal parameter has been updated according to the second information, the updated second signal parameter can be determined according to the second information and the previous first signal parameter; and when the fourth indication information indicates that the first signal parameter has not been updated according to the second information, the previous first signal parameter is used as the second signal parameter.

[0123] The second node may also determine a second perception parameter and / or a second signal parameter according to the third information, perform perception processing on the second perception signal, and obtain a second perception result, where the second perception result includes a second ranging result and a second angle measurement result.

[0124] For example, when the third information includes the second perception parameter, the second perception parameter can be directly obtained according to the third information. For another example, when the third information includes the third indication information, when the third indication information indicates that the first perception parameter has been updated according to the second information, the updated second perception parameter can be determined according to the second information and the previous first perception parameter; and when the third indication information indicates that the first perception parameter has not been updated according to the second information, the previous first perception parameter is used as the second perception parameter.

[0125] To help better understand the above embodiment, the above method is further described below through a specific example.

[0126] In the cooperative sensing system including the transmitting base station A and the receiving base station B, the carrier center frequency of the OFDM sensing reference signal is 2.6 GHz. Both base stations A and B are uniform linear array ULA antennas, with 8 antennas. The area illuminated by the main lobe of the ULA antenna is R in the distance direction. w = 300m. The steps in this example include:

[0127] S1: Base station A obtains the sensing requirements from the upper layer and calculates the distance measurement and angle measurement parameters. Assuming that the distance resolution and angle resolution requirements transmitted to base station A by the upper layer are ΔR≤3m and Δθ≤3° respectively, then:

[0128] Distance measurement parameters: The number of distance resolution units is L = R w / ΔH≥100, can be taken as 100;

[0129] Angle measurement parameters: The number of grids in the angle domain is H = 1 / sin(Δθ) ≥ 19.1, which can be 20;

[0130] S2: Base station A configures OFDM sensing signal S and sends it to base station B. The sensing signal configuration is as follows:

[0131] The total bandwidth of the OFDM signal: B = c / (2ΔR) ≥ 50 MHz, so the total bandwidth can be 50 MHz.

[0132] OFDM signal CP length: N CP ≥L-1=99, the CP length can be taken as 99.

[0133] The number of subcarriers of OFDM signal: N sc≥L, combined with the optional subcarrier spacing Δf = 15KHz, 30KHz, 60KHz at the center frequency of 2.6GHz, when the total bandwidth is 50MHz, it can meet N sc ≥99. Select Δf = 30KHz from them, N sc = 139RB = 1668.

[0134] Base station A sends the first information to base station B. The first information includes the first sensing parameter and / or the first signal parameter. The first sensing parameter includes the number of range resolution units L and the number of angle domain grids H. The parameter SensingParaInit = {100, 20} can be added to the IE XnSetupRequest of the 3GPP 38.423 Xn interface protocol (all IEs mentioned below are in this protocol). The first signal parameter includes the total bandwidth, CP length, number of subcarriers, etc. The parameter SensingResourceInit = {50, 99, 1668} can be added to the IEResourceStatusRequest. The three parameters in this IE are the total bandwidth, CP length, and number of subcarriers respectively.

[0135] S3: Base station B receives the sensing signal and the first information, and compares the number of angle domain grids H = 20 and the number of antennas P = 8. Since P < H, the current number of antennas cannot meet the angle resolution requirement, and a super-resolution angle measurement algorithm needs to be used to increase the angle resolution that can be obtained by the existing 8 antennas by H / P = 2.5 times. Base station B establishes a two-dimensional spectrum with the number of angle domain grids H = 20 and the number of range domain grids L = 100, and uses the compressive sensing algorithm to process the received OFDM sensing signal reflected by the target to be measured, obtaining an angle measurement accuracy of 0.5° and a range measurement accuracy of 1.8m.

[0136] S4: Base station B evaluates that the range measurement result does not reach the sub-meter level, and the number of range resolution units should be increased to L = 200. Base station B sends the second information. Optionally, the parameter SensingParaFeedback = 1, RangeParaRequest = 200 can be added to the IE XnSetupResponse, and / or the parameter SensingResourceUpdate = {100, 199, 3276} can be added to the IE ResourceStatusResponse.

[0137] S5: Base station A receives the second information, and according to the second information, adjusts the range measurement parameter to L = 200, and reconfigures the sensing signal S', so that its total bandwidth is 100MHz, CP length is 199, and the number of subcarriers is N sc=273RB=3276, and sends a sensing signal S'. In addition, base station A sends third information. Optionally, a parameter SensingSignalUpdate=1 may be added to IE ResourceStatusUpdate to indicate that the resource configuration of the sensing signal is updated.

[0138] S6: The second node receives the third information, and determines, based on the third information, that the resource configuration of the perception signal has been updated. At this time, the perception measurement estimate is updated using the reconfigured perception signal S'.

[0139] The above describes various methods of the embodiments of the present application. The following further provides devices for implementing the above methods.

[0140] Please refer to Figure 6 , the embodiment of the present application further provides a first node, including:

[0141] The first sending module 601 is used to send first information to the second node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

[0142] Through the above modules, relevant information of perception measurement and estimation can be exchanged between nodes to realize perception measurement and estimation.

[0143] Optionally, the first two-dimensional spectrum scale includes a first distance domain grid number and a first angle domain grid number; the resource configuration of the perception signal includes at least one of the following: total bandwidth of orthogonal frequency division multiplexing OFDM signal, cyclic prefix CP length, and number of subcarriers.

[0144] Optionally, the first node further includes:

[0145] The calculation module is used to calculate the number of grids in the first distance domain according to the required values ​​of distance resolution and / or distance measurement accuracy before sending the first information to the second node; and calculate the number of grids in the first angle domain according to the required values ​​of angle resolution and / or angle measurement accuracy.

[0146] Optionally, the first node further includes:

[0147] The determination module is used to determine the first signal parameter according to the first distance domain grid number before sending the first information to the second node.

[0148] Optionally, the first node further includes:

[0149] The second sending module is used to send a first perception signal based on the first signal parameter.

[0150] Optionally, the first node further includes:

[0151] A first receiving module is configured to receive second information sent by a second node after sending first information to the second node, where the second information includes at least one of the following:

[0152] first indication information of whether the number of first distance domain grids needs to be adjusted;

[0153] An adjustment target value of the number of grid cells in the first distance domain;

[0154] The adjustment amplitude value of the first distance domain grid number;

[0155] second indication information of whether the first signal parameter needs to be adjusted;

[0156] an adjustment target value of a first signal parameter;

[0157] The adjustment amplitude value of the first signal parameter.

[0158] Optionally, the first node further includes:

[0159] A third sending module, configured to send third information to the second node, where the third information includes at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter;

[0160] The third indication information is used to indicate whether the first perception parameter is updated according to the second information; the second perception parameter is used to indicate the perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated according to the second information, and the second signal parameter is used to indicate the signal parameter obtained after the first signal parameter is updated;

[0161] A second perceptual signal is sent based on the second signal parameter.

[0162] It should be noted that the device in this embodiment is a device corresponding to the method applied to the first node, and the implementation methods in the above embodiments are all applicable to the embodiments of the device, and can also achieve the same technical effect. The above device provided in the embodiment of the present application can implement all the method steps implemented in the above method embodiment, and can achieve the same technical effect, and the parts and beneficial effects that are the same as those in the method embodiment in this embodiment will not be specifically repeated here.

[0163] Please refer to Figure 7 , the embodiment of the present application further provides a first node 700, including: a transceiver 701 and a processor 702;

[0164] The transceiver 701 is used to send first information to the second node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

[0165] Through the above modules, relevant information of perception measurement and estimation can be exchanged between nodes, providing information support for the realization of perception measurement and estimation.

[0166] Optionally, the first two-dimensional spectrum scale includes a first distance domain grid number and a first angle domain grid number; the resource configuration of the perception signal includes at least one of the following: total bandwidth of orthogonal frequency division multiplexing OFDM signal, cyclic prefix CP length, and number of subcarriers.

[0167] Optionally, the processor 702 is used to calculate the first distance domain grid number of the first two-dimensional spectrum scale according to the required values ​​of distance resolution and / or ranging accuracy before sending the first information to the second node; and calculate the first angle domain grid number of the first two-dimensional spectrum scale according to the required values ​​of angle resolution and / or angle measurement accuracy.

[0168] Optionally, the processor 702 is used to determine the first signal parameter according to the distance domain grid number before sending the first information to the second node.

[0169] Optionally, the transceiver is further used to send a first perception signal based on the first signal parameter.

[0170] Optionally, the transceiver is further configured to receive second information sent by the second node after sending the first information to the second node, where the second information includes at least one of the following:

[0171] first indication information of whether the number of first distance domain grids needs to be adjusted;

[0172] An adjustment target value of the number of grid cells in the first distance domain;

[0173] The adjustment amplitude value of the first distance domain grid number;

[0174] second indication information of whether the first signal parameter needs to be adjusted;

[0175] an adjustment target value of a first signal parameter;

[0176] The adjustment amplitude value of the first signal parameter.

[0177] Optionally, the transceiver is further used to send third information to the second node, where the third information includes at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter;

[0178] The third indication information is used to indicate whether the first perception parameter is updated according to the second information; the second perception parameter is used to indicate the perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated according to the second information, and the second signal parameter is used to indicate the signal parameter obtained after the first signal parameter is updated;

[0179] A second perceptual signal is sent based on the second signal parameter.

[0180] It should be noted that the device in this embodiment is a device corresponding to the method applied to the first node, and the implementation methods in the above embodiments are all applicable to the embodiments of the device, and can also achieve the same technical effect. The above device provided in the embodiment of the present application can implement all the method steps implemented in the above method embodiment, and can achieve the same technical effect, and the parts and beneficial effects that are the same as those in the method embodiment in this embodiment will not be specifically repeated here.

[0181] Please refer to Figure 8 , the embodiment of the present application further provides a second node, including:

[0182] The first receiving module 801 is used to receive first information sent by a first node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

[0183] Through the above modules, the embodiments of the present application can interact with the relevant information of perception measurement and estimation between nodes, and provide information support for realizing perception measurement and estimation.

[0184] Optionally, the first two-dimensional spectrum scale includes a first distance domain grid number and a first angle domain grid number; the resource configuration of the perception signal includes at least one of the following: total bandwidth of orthogonal frequency division multiplexing OFDM signal, cyclic prefix CP length, and number of subcarriers.

[0185] Optionally, the second node further includes:

[0186] A second receiving module, configured to receive a first sensing signal sent by the first node;

[0187] The first perception module is used to perform perception processing on the first perception signal according to the first perception parameter and / or the first signal parameter to obtain a first perception result, where the first perception result includes a first distance measurement result and a first angle measurement result.

[0188] Optionally, the first perception module is further used to:

[0189] When the number of receiving antennas of the second node is less than the first angle domain grid number, a first two-dimensional spectrum is established in which the angle domain grid number is the first angle domain grid number and the distance domain grid number is the first distance domain grid number, and the first perception signal is processed based on the first two-dimensional spectrum and the first ranging and angle measurement algorithm to obtain a first perception result;

[0190] When the number of receiving antennas of the second node is greater than or equal to the first angle domain grid number, a second two-dimensional spectrum is established in which the angle domain grid number is the number of receiving antennas and the distance domain grid number is the first distance domain grid number, and the first perception signal is processed based on the second two-dimensional spectrum and the second ranging and angle measurement algorithm to obtain a first perception result.

[0191] Optionally, the first ranging and angle measurement algorithm is a super-resolution ranging and angle measurement algorithm such as compressed sensing or multi-signal classification MUSIC algorithm, and the second ranging and angle measurement algorithm is a general ranging and angle measurement algorithm such as two-dimensional fast Fourier transform 2D-FFT.

[0192] Optionally, the second node further includes:

[0193] A first obtaining module, used to obtain an evaluation value of distance resolution and / or ranging accuracy according to the first ranging result;

[0194] A first sending module is configured to determine second information according to the evaluation value of the distance resolution and / or the ranging accuracy and the required value of the distance resolution and / or the ranging accuracy, and send the second information to the first node; wherein the second information includes at least one of the following:

[0195] first indication information of whether the number of first distance domain grids needs to be adjusted;

[0196] An adjustment target value of the number of grid cells in the first distance domain;

[0197] The adjustment amplitude value of the first distance domain grid number;

[0198] second indication information of whether the first signal parameter needs to be adjusted;

[0199] an adjustment target value of a first signal parameter;

[0200] The adjustment amplitude value of the first signal parameter.

[0201] Optionally, the second node further includes:

[0202] A first determination module is used to obtain an evaluation value of an angle resolution and / or an angle measurement accuracy according to the first angle measurement result; and determine whether the number of angle domain grids needs to be adjusted according to the evaluation value of the angle resolution and / or the angle measurement accuracy and the required value of the angle resolution and / or the angle measurement accuracy;

[0203] When the angle domain grid number needs to be adjusted, the angle domain grid number is adjusted from the first angle domain grid number to the second angle domain grid number.

[0204] Optionally, the second node further includes:

[0205] a third receiving module, configured to receive third information sent by the first node, the third information including at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter; the third indication information is used to indicate whether the first perception parameter is updated according to the second information; the second perception parameter is used to indicate a perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated according to the second information, and the second signal parameter is used to indicate a signal parameter obtained after the first signal parameter is updated;

[0206] A fourth receiving module, configured to receive a second perception signal sent by the first node;

[0207] The second perception module is used to determine a second perception parameter and / or a second signal parameter according to the third information, perform perception processing on the second perception signal, and obtain a second perception result, where the second perception result includes a second distance measurement result and a second angle measurement result.

[0208] It should be noted that the device in this embodiment is a device corresponding to the method applied to the second node, and the implementation methods in the above embodiments are all applicable to the embodiments of the device, and can also achieve the same technical effect. The above device provided in the embodiment of the present application can implement all the method steps implemented in the above method embodiment, and can achieve the same technical effect, and the parts and beneficial effects that are the same as those in the method embodiment in this embodiment will not be specifically repeated here.

[0209] Please refer to Fig. 9 , the embodiment of the present application further provides a second node 900, including: a transceiver 901 and a processor 902;

[0210] The transceiver 901 is used to receive first information sent by a first node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

[0211] Optionally, the first two-dimensional spectrum scale includes a first distance domain grid number and a first angle domain grid number; the resource configuration of the perception signal includes at least one of the following: total bandwidth of orthogonal frequency division multiplexing OFDM signal, cyclic prefix CP length, and number of subcarriers.

[0212] Optionally, the transceiver is further used to receive a first perception signal sent by the first node;

[0213] The processor is used to perform perception processing on the first perception signal according to the first perception parameter and / or the first signal parameter to obtain a first perception result, where the first perception result includes a first distance measurement result and a first angle measurement result.

[0214] Optionally, the processor is further configured to:

[0215] When the number of receiving antennas of the second node is less than the first angle domain grid number, a first two-dimensional spectrum is established in which the angle domain grid number is the first angle domain grid number and the distance domain grid number is the first distance domain grid number, and the first perception signal is processed based on the first two-dimensional spectrum and the first ranging and angle measurement algorithm to obtain a first perception result;

[0216] When the number of receiving antennas of the second node is greater than or equal to the first angle domain grid number, a second two-dimensional spectrum is established in which the angle domain grid number is the number of receiving antennas and the distance domain grid number is the first distance domain grid number, and the first perception signal is processed based on the second two-dimensional spectrum and the second ranging and angle measurement algorithm to obtain a first perception result.

[0217] Optionally, the first ranging and angle measurement algorithm is a super-resolution ranging and angle measurement algorithm such as compressed sensing or multi-signal classification MUSIC algorithm, and the second ranging and angle measurement algorithm is a general ranging and angle measurement algorithm such as two-dimensional fast Fourier transform 2D-FFT.

[0218] Optionally, the processor is further configured to:

[0219] Obtaining an evaluation value of distance resolution and / or distance measurement accuracy according to the first ranging result;

[0220] Determine second information according to the evaluation value of the distance resolution and / or ranging accuracy and the required value of the distance resolution and / or ranging accuracy, and send the second information to the first node; wherein the second information includes at least one of the following:

[0221] first indication information of whether the number of first distance domain grids needs to be adjusted;

[0222] An adjustment target value of the number of grid cells in the first distance domain;

[0223] The adjustment amplitude value of the first distance domain grid number;

[0224] second indication information of whether the first signal parameter needs to be adjusted;

[0225] an adjustment target value of a first signal parameter;

[0226] The adjustment amplitude value of the first signal parameter.

[0227] Optionally, the processor is further configured to:

[0228] Obtaining an evaluation value of angle resolution and / or angle measurement accuracy according to the first angle measurement result;

[0229] Determining whether the number of angle domain grids needs to be adjusted according to the evaluation value of the angle resolution and / or angle measurement accuracy and the required value of the angle resolution and / or angle measurement accuracy;

[0230] When the angle domain grid number needs to be adjusted, the angle domain grid number is adjusted from the first angle domain grid number to the second angle domain grid number.

[0231] Optionally, the transceiver is further used to receive third information sent by the first node, where the third information includes at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter; the third indication information is used to indicate whether the first perception parameter is updated according to the second information; the second perception parameter is used to indicate a perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated according to the second information, and the second signal parameter is used to indicate a signal parameter obtained after the first signal parameter is updated;

[0232] The processor is further configured to determine a second signal parameter according to the third information, and receive a second perception signal sent by the first node according to the second signal parameter; determine a second perception parameter according to the third information, and perform perception processing on the second perception signal according to the second perception parameter to obtain a second perception result, where the second perception result includes a second ranging result and a second angle measurement result.

[0233] It should be noted that the device in this embodiment is a device corresponding to the method applied to the second node, and the implementation methods in the above embodiments are all applicable to the embodiments of the device, and can also achieve the same technical effect. The above device provided in the embodiment of the present application can implement all the method steps implemented in the above method embodiment, and can achieve the same technical effect, and the parts and beneficial effects that are the same as those in the method embodiment in this embodiment will not be specifically repeated here.

[0234] Please refer to Fig.10 The embodiment of the present application also provides a terminal 1000, including a processor 1001, a memory 1002, and a computer program stored in the memory 1002 and executable on the processor 1001. When the computer program is executed by the processor 1001, the various processes of the collaborative sensing method embodiment performed by the first node are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0235] Please refer to Fig.11 The embodiment of the present application also provides a network device 1100, including a processor 1101, a memory 1102, and a computer program stored in the memory 1102 and executable on the processor 1101. When the computer program is executed by the processor 1101, the various processes of the collaborative sensing method embodiment performed by the second node are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0236] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned collaborative sensing method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0237] It should be noted that, in this article, the terms "include", "include" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0238] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0239] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A collaborative sensing method, applied to a first node, characterized in that: include: Sending first information to the second node, the first information including a first perception parameter and / or a first signal parameter, the first perception parameter being used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter being used to indicate a resource configuration of a perception signal.

2. The method according to claim 1, characterized in that The first two-dimensional spectrum scale includes a first distance domain grid number and a first angle domain grid number; the resource configuration of the perception signal includes at least one of the following: total bandwidth of orthogonal frequency division multiplexing OFDM signal, cyclic prefix CP length, and number of subcarriers.

3. The method according to claim 2, characterized in that Before sending the first information to the second node, the method further includes: Calculating the number of first range domain grids according to the required values ​​of range resolution and / or ranging accuracy; The number of grids in the first angle domain is calculated according to the required values ​​of the angle resolution and / or the angle measurement accuracy.

4. The method according to claim 3, characterized in that Before sending the first information to the second node, the method further includes: The first signal parameter is determined according to the first distance domain grid number.

5. The method according to claim 1, characterized in that Also includes: A first perceptual signal is sent based on the first signal parameter.

6. The method according to claim 1, characterized in that After sending the first information to the second node, the method further includes: receiving second information sent by the second node, where the second information includes at least one of the following: first indication information of whether the number of first distance domain grids needs to be adjusted; An adjustment target value of the number of grid cells in the first distance domain; The adjustment amplitude value of the first distance domain grid number; second indication information of whether the first signal parameter needs to be adjusted; an adjustment target value of a first signal parameter; The adjustment amplitude value of the first signal parameter.

7. The method according to claim 6, characterized in that Also includes: Sending third information to the second node, where the third information includes at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter; The third indication information is used to indicate whether the first perception parameter is updated according to the second information; the second perception parameter is used to indicate the perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated according to the second information, and the second signal parameter is used to indicate the signal parameter obtained after the first signal parameter is updated; A second perceptual signal is sent based on the second signal parameter.

8. A collaborative sensing method, applied to a second node, characterized in that: include: Receive first information sent by a first node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

9. The method according to claim 8, characterized in that The first two-dimensional spectrum scale includes a first distance domain grid number and a first angle domain grid number; the resource configuration of the perception signal includes at least one of the following: total bandwidth of orthogonal frequency division multiplexing OFDM signal, cyclic prefix CP length, and number of subcarriers.

10. The method according to claim 9, characterized in that Also includes: Receiving a first perception signal sent by the first node; The first perception signal is perception-processed according to the first perception parameter and / or the first signal parameter to obtain a first perception result, where the first perception result includes a first distance measurement result and a first angle measurement result.

11. The method according to claim 10, characterized in that The step of performing perception processing on the first perception signal according to the first perception parameter includes: When the number of receiving antennas of the second node is less than the first angle domain grid number, a first two-dimensional spectrum is established in which the angle domain grid number is the first angle domain grid number and the distance domain grid number is the first distance domain grid number, and the first perception signal is processed based on the first two-dimensional spectrum and the first ranging and angle measurement algorithm to obtain a first perception result; When the number of receiving antennas of the second node is greater than or equal to the first angle domain grid number, a second two-dimensional spectrum is established in which the angle domain grid number is the number of receiving antennas and the distance domain grid number is the first distance domain grid number, and the first perception signal is processed based on the second two-dimensional spectrum and the second ranging and angle measurement algorithm to obtain a first perception result.

12. The method according to claim 11, characterized in that The first distance measurement and angle measurement algorithm is a super-resolution distance measurement and angle measurement algorithm, and the super-resolution distance measurement and angle measurement algorithm includes a compressed sensing algorithm and a multi-signal classification MUSIC algorithm; The second distance measurement and angle measurement algorithm is a general distance measurement and angle measurement algorithm, and the general distance measurement and angle measurement algorithm includes a two-dimensional fast Fourier transform 2D-FFT algorithm.

13. The method according to claim 10, characterized in that Also includes: Obtaining an evaluation value of distance resolution and / or distance measurement accuracy according to the first ranging result; Determine second information according to the evaluation value of the distance resolution and / or ranging accuracy and the required value of the distance resolution and / or ranging accuracy, and send the second information to the first node; wherein the second information includes at least one of the following: first indication information of whether the number of first distance domain grids needs to be adjusted; An adjustment target value of the number of grid cells in the first distance domain; The adjustment amplitude value of the first distance domain grid number; second indication information of whether the first signal parameter needs to be adjusted; an adjustment target value of a first signal parameter; The adjustment amplitude value of the first signal parameter.

14. The method according to claim 10, characterized in that Also includes: Obtaining an evaluation value of angle resolution and / or angle measurement accuracy according to the first angle measurement result; Determining whether the number of angle domain grids needs to be adjusted according to the evaluation value of the angle resolution and / or angle measurement accuracy and the required value of the angle resolution and / or angle measurement accuracy; When the angle domain grid number needs to be adjusted, the angle domain grid number is adjusted from the first angle domain grid number to the second angle domain grid number.

15. The method according to claim 13, characterized in that Also includes: receiving third information sent by the first node, where the third information includes at least one of the following information: third indication information, second perception parameter, fourth indication information, and second signal parameter; the third indication information is used to indicate whether the first perception parameter is updated according to the second information; the second perception parameter is used to indicate a perception parameter obtained after the first perception parameter is updated; the fourth indication information is used to indicate whether the first signal parameter is updated according to the second information, and the second signal parameter is used to indicate a signal parameter obtained after the first signal parameter is updated; Receiving a second perception signal sent by the first node; A second perception parameter and / or a second signal parameter is determined according to the third information, and perception processing is performed on the second perception signal to obtain a second perception result, where the second perception result includes a second distance measurement result and a second angle measurement result.

16. A first node, characterized in that: comprising a transceiver and a processor, wherein: The transceiver is used to send first information to the second node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

17. A first node, characterized in that: include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the steps of the method according to any one of claims 1 to 7 are implemented.

18. A second node, characterized in that: comprising a transceiver and a processor, wherein: The transceiver is used to receive first information sent by a first node, where the first information includes a first perception parameter and / or a first signal parameter, where the first perception parameter is used to indicate a first two-dimensional spectrum scale required for perception measurement and estimation, and the first signal parameter is used to indicate a resource configuration of a perception signal.

19. A second node, characterized in that: include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the steps of the method according to any one of claims 8 to 15 are implemented.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 15 are implemented.

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