Perception method, device and system and storage medium

Abstract

The invention discloses a sensing method, the method is applied to a receiving node, and the method comprises the steps: receiving a reflection signal reflected by a target object at a to-be-sensed position; wherein the reflection signal is obtained by reflecting a sensing signal transmitted by a transmitting node through the target object; determining blind area position information based on the reflection signal; wherein the blind area position information is used for representing the position relationship between the target object and the blind area of the receiving node; sending the blind area position information to a processing node; wherein the blind area position information is used for enabling the processing node to determine the accurate position of the target object. The invention further discloses a first sensing device, a second sensing device, a sensing system and a storage medium.

Description

Technical Field

[0001] This application relates to the field of wireless communication technologies, and in particular, to a sensing method, apparatus, system, and storage medium. Background Art

[0002] Communication-sensing integration is one of the potential key technologies for the 6th Generation Mobile Communication Technology (6G). As a new type of integrated technology, communication-sensing integration aims to share the same set of software, hardware, and spectrum resources to implement communication and sensing functions, further improving spectrum and resource utilization. Communication-sensing integration can use mobile cellular networks to achieve target positioning functions including non-networked objects, breaking through the limitation that existing networks only support in-network terminal positioning and meeting the needs of future various intelligent scenarios.

[0003] In cooperative sensing, several nodes form a cooperative sensing cluster to participate in the sensing process. The nodes can be base stations, terminals, or wireless access points. One of the nodes acts as a transmitting node to send sensing signals into space, and the remaining nodes act as receiving nodes to receive the signals reflected by the target object. After further signal processing of the received signals, they are returned to the processing node, and the processing node determines the sensed target information through the interaction of signal processing results to complete the sensing process.

[0004] However, in the sensing area, during the cooperative sensing process, when different receiving nodes implement the sensing process, due to the influence of the received signal quality, there are large errors in the sensing process, resulting in low sensing positioning accuracy at different positions.

[0005] Application Content

[0006] To solve the above technical problems, this application expects to provide a sensing method, apparatus, system, and storage medium, which solves the problem of low sensing positioning accuracy in the current sensing area, proposes a method for processing sensing signals, reduces the influence of errors in the sensing process, and improves the notification positioning accuracy.

[0007] The technical solution of this application is implemented as follows:

[0008] This application provides a sensing method, which is applied to a receiving node, and the method includes:

[0009] Receiving a reflected signal reflected by a target object at a position to be sensed; wherein, the reflected signal is obtained by reflecting a sensing signal transmitted by a transmitting node by the target object;

[0010] Based on the reflected signal, determine the blind area position information; wherein, the blind area position information is used to represent the positional relationship between the target object and the blind area of the receiving node;

[0011] Send the blind area position information to the processing node; wherein, the blind area position information is used to enable the processing node to determine the precise position of the target object.

[0012] In the above solution, the determining the blind area position information based on the reflected signal includes:

[0013] Based on the reflected signal, determine the sensing parameter and the signal quality parameter;

[0014] Based on the sensing parameter and the signal quality parameter, determine the blind area position information.

[0015] In the above solution, the determining the blind area position information based on the sensing parameter and the signal quality parameter includes:

[0016] Based on the signal quality parameter, determine the blind area range corresponding to the receiving node;

[0017] Based on the sensing parameter and the blind area range, determine the blind area position information.

[0018] In the above solution, the sensing parameter at least includes: the signal arrival angle parameter and the time delay parameter.

[0019] In the above solution, the determining the blind area position information based on the sensing parameter and the blind area range includes:

[0020] Determine the first position of the transmitting node and the second position of the receiving node;

[0021] Based on the sensing parameter, the first position and the second position, estimate the estimated position of the target object;

[0022] Determine the positional relationship between the estimated position and the blind area range to obtain the blind area position information; wherein, the blind area position information further includes the estimated position.

[0023] In the above solution, the method further includes:

[0024] Send the sensing parameter to the processing node.

[0025] This application provides a sensing method, which is applied to a processing node, and the method includes:

[0026] Receive the blind area position information of the target object at the position to be sensed sent by the receiving node; wherein, the blind area position information is used to represent the positional relationship between the target object and the blind area of the receiving node, and is determined by the receiving node based on the reflected signal reflected by the target object received.

[0027] Based on the blind area position information sent by at least two of the receiving nodes, determine the precise position of the target object.

[0028] In the above solution, the determining the precise position of the target object based on the blind area position information sent by at least two of the receiving nodes includes:

[0029] If each piece of the blind area position information indicates that the target object is not within the blind area range of the corresponding receiving node, determine the estimated position of the target object sensed by each receiving node.

[0030] Based on the estimated positions corresponding to at least two of the receiving nodes, determine the precise position.

[0031] In the above solution, the determining the estimated position of the target object sensed by each receiving node includes:

[0032] Determine the estimated position estimated by each receiving node from each piece of the blind area position information.

[0033] In the above solution, the method further includes:

[0034] Receive the sensing parameters sent by each receiving node.

[0035] In the above solution, the determining the estimated position of the target object sensed by each receiving node includes:

[0036] Determine the first position of the transmitting node and the second position of each receiving node.

[0037] Based on the sensing parameter, the first position and the corresponding second position of each receiving node, determine the estimated position corresponding to the target object of each receiving node.

[0038] In the above solution, the determining the precise position of the target object based on the blind area position information sent by at least two of the receiving nodes further includes:

[0039] If at least one piece of the blind area position information indicates that the target object is within the blind area range between the corresponding receiving node and the transmitting node, taking each receiving node as the starting point and using the angle of arrival of the signal included in the corresponding sensing parameter as the direction, determine the ray corresponding to each receiving node.

[0040] Determine that the intersection position of the rays corresponding to at least two of the receiving nodes is the precise position.

[0041] In the above solution, determining the precise position of the target object based on the sensing parameters and the blind area position information sent by at least two of the receiving nodes further includes:

[0042] If at least one of the blind area position information indicates that the target object is within the blind area range, and at least one of the blind area ranges is not the blind area range between the corresponding receiving node and the transmitting node, based on the delay parameter included in the sensing parameter of each receiving node, the first position of the corresponding receiving node, and the second position of the transmitting node, determine the analysis area corresponding to each receiving node to obtain at least two analysis areas;

[0043] Determine the precise position based on at least two of the analysis areas and at least two of the sensing parameters.

[0044] In the above solution, determining the precise position based on at least two of the analysis areas and at least two of the sensing parameters includes:

[0045] Determine the intersections of the edges of at least two of the analysis areas to obtain at least one target intersection position;

[0046] Determine the target signal arrival angle corresponding to the minimum delay parameter from at least two of the sensing parameters;

[0047] Determine the target node corresponding to the sensing parameter to which the target signal arrival angle belongs;

[0048] Determine that the precise position is the intersection position pointed to by the target signal arrival angle of the target node from at least one of the target intersection positions.

[0049] In the above solution, after determining the precise position of the target object based on the blind area position information sent by at least two of the receiving nodes, the method further includes:

[0050] Detect the current service execution parameters;

[0051] If the service execution parameters meet the service termination condition, end the sensing process; where the service termination condition is at least one of the following: service requirement cancellation, service exceeding the expected time, node resource saturation, sensing service completion;

[0052] If the service execution parameter does not meet the service termination condition, repeat the step of "receiving the blind area position information of the target object sent by the receiving node" until the service execution parameter meets the service terminal condition.

[0053] The present application provides a first sensing device, which is applied to a receiving node. The device includes: a first receiving unit, a first determining unit, and a first sending unit; wherein:

[0054] The first receiving unit is configured to receive a reflected signal reflected by a target object; wherein, the reflected signal is obtained by reflecting a sensing signal transmitted by a transmitting node by the target object;

[0055] The first determining unit is configured to determine blind area position information based on the reflected signal; wherein, the blind area position information is used to represent the positional relationship between the target object and the blind area region of the receiving node;

[0056] The first sending unit is configured to send the blind area position information to a processing node; wherein, the blind area position information is used to enable the processing node to determine the precise position of the target object.

[0057] The present application provides a second sensing device, which is applied to a processing node. The device includes: a second receiving unit and a second determining unit; wherein:

[0058] The second receiving unit is configured to receive the blind area position information of the target object sent by the receiving node;

[0059] The second determining unit is configured to determine the precise position of the target object based on the blind area position information sent by at least two of the receiving nodes.

[0060] The present application provides a sensing system, which at least includes: an upper layer network, at least two communication nodes, and at least one server; wherein:

[0061] The upper layer network is configured to specify at least two of the communication nodes to form a cooperative sensing cluster based on a sensing area, specify at least one node as a processing node from at least two of the communication nodes, correspondingly, the remaining communication nodes are used as receiving nodes, or specify at least one server as the processing node from at least one of the servers, and correspondingly determine at least one node as a transmitting node from at least two communication nodes, and the remaining communication nodes are used as the receiving nodes;

[0062] The receiving node is configured to implement the steps of the sensing method described in any one of the above;

[0063] The processing node is configured to implement the steps of the sensing method described in any one of the above.

[0064] The present application provides a storage medium, on which a sensing program is stored. When the sensing program is executed, it is used to implement the steps of the sensing method described in any one of the above.

[0065] The embodiments of the present application provide a sensing method, device, system and storage medium. The receiving node receives the reflected signal reflected by the target object at the position to be sensed, and based on the reflected signal, determines the blind area position information, and then sends the blind area position information to the processing node. After receiving the blind area position information of the target object at the position to be sensed sent by the receiving node, the processing node determines the exact position of the target object based on the blind areas sent by at least two receiving nodes. In this way, by analyzing and processing the blind area position information of the target object fed back by at least two receiving nodes by the processing node, the exact position of the target object is determined, solving the problem of low sensing and positioning accuracy in the current sensing area, and proposing a method for processing sensing signals, reducing the error influence in the sensing process, and improving the notification positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a flowchart of the sensing method provided by the embodiment of the present application Figure 1 ;

[0067] Figure 2 It is a flowchart of the sensing method provided by the embodiment of the present application Figure 2 ;

[0068] Figure 3 It is a flowchart of the sensing method provided by the embodiment of the present application Figure 3 ;

[0069] Figure 4 It is a flowchart of the sensing method provided by the embodiment of the present application Figure 4 ;

[0070] Figure 5 It is a schematic diagram of an application scenario provided by the embodiment of the present application;

[0071] Figure 6 It is a schematic diagram of a blind area provided by the embodiment of the present application;

[0072] Figure 7 It is another schematic diagram of an application scenario provided by the embodiment of the present application;

[0073] Figure 8 It is a schematic diagram of an application scenario for determining an estimated position provided by the embodiment of the present application;

[0074] Figure 9 It is a schematic diagram of an application scenario for determining an exact position provided by the embodiment of the present application;

[0075] Figure 10 Structural schematic diagram of a first sensing device provided by an embodiment of the present application;

[0076] Figure 11 Structural schematic diagram of a second sensing device provided by an embodiment of the present application;

[0077] Figure 12 Structural schematic diagram of a sensing system provided by an embodiment of the present application. Detailed implementation manners

[0078] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application.

[0079] An embodiment of the present application provides a sensing method. Referring to Figure 1 as shown, the method is applied to a receiving node, and the method includes the following steps:

[0080] Step 101: Receive a reflected signal reflected by a target object at a position to be sensed.

[0081] Among them, the reflected signal is obtained by reflecting a sensing signal transmitted by a transmitting node by the target object.

[0082] In an embodiment of the present application, in cooperative sensing, a cooperative sensing cluster usually consists of several nodes to participate in the sensing process. The nodes can be base stations, terminals or wireless access points. One node, such as a base station, acts as a transmitting node to send a sensing signal into space, and the remaining nodes act as receiving nodes to receive the reflected signal after the sensing signal is reflected by the target object. The target object can be an intelligent mobile terminal device, such as an intelligent vehicle, an intelligent unmanned aircraft, etc. In the application process, precise positioning is required, that is, the position to be sensed is determined through the cooperative sensing cluster.

[0083] Step 102: Determine blind area position information based on the reflected signal.

[0084] Among them, the blind area position information is used to represent the positional relationship of the blind area area between the target object and the receiving node.

[0085] In an embodiment of the present application, by analyzing the received reflected signal regarding the target object, the positional relationship of whether the target object is within the blind area area of the receiving node is determined, and the blind area position information of the target object is obtained.

[0086] Step 103: Send the blind area position information to a processing node.

[0087] Among them, the blind area position information is used to enable the processing node to determine the precise position of the target object.

[0088] In the embodiment of the present application, the blind area position information of the target object is sent to the processing node, so as to converge the blind area position information about the target object at the processing node, and analyze according to the received blind area position information of multiple target objects, so as to determine the accurate position of the target object. In this way, by determining the position relationship of whether the target object is in the blind area and sending it to the processing node, so that the processing node can determine the accurate position of the target object according to the received blind area position information, the influence of the blind area on precise positioning is effectively measured, and the position accuracy of the target object is ensured.

[0089] The perception method provided by the embodiment of the present application receives, through a receiving node, a reflected signal reflected by a target object at a position to be perceived, determines blind area position information based on the reflected signal, and then sends the blind area position information to the processing node, so that the processing node determines the accurate position of the target object based on the blind areas of the target object sent by at least two receiving nodes. In this way, by analyzing and processing the blind area position information of the target object fed back by at least two receiving nodes by the processing node, the accurate position of the target object is determined, solving the problem of low perception and positioning accuracy in the current perception area, and proposing a method for processing perception signals, reducing the error influence in the perception process, and improving the accuracy of informed positioning.

[0090] Based on the foregoing embodiments, an embodiment of the present application provides a perception method, referring to Figure 2 as shown, the method is applied to a processing node, and the method includes the following steps:

[0091] Step 201, receive the blind area position information of the target object at the position to be perceived sent by the receiving node.

[0092] Among them, the blind area position information is used to represent the position relationship between the target object and the blind area of the receiving node, and is determined by the receiving node based on the reflected signal reflected by the target object received.

[0093] In the embodiment of the present application, the processing node is a server or a base station node included in the corresponding cooperative perception cluster in the cooperative perception system, and is at least used for fusing and analyzing the blind area position information about the target object fed back by at least two receiving nodes to determine the accurate position of the target object.

[0094] Step 202, determine the accurate position of the target object based on the blind area position information sent by at least two receiving nodes.

[0095] In the embodiment of the present application, the processing node analyzes the blind area position information sent by at least two receiving nodes to determine the accurate position of the target object. In this way, subsequent operations such as providing accurate services or reliable management for the target object can be performed based on the accurate position of the target object.

[0096] The sensing method provided by the embodiments of the present application determines the precise position of the target object by the processing node based on the blind area position information of the target object at the position to be sensed sent by the receiving node. After receiving the blind area position information of the target object sent by at least two receiving nodes, the precise position of the target object is determined. In this way, by analyzing and processing the blind area position information of the target object fed back by at least two receiving nodes by the processing node, the precise position of the target object is determined, solving the problem of low sensing and positioning accuracy in the current sensing area, and a method for processing sensing signals is proposed, reducing the error influence in the sensing process and improving the notification positioning accuracy.

[0097] Based on the foregoing embodiments, the embodiments of the present application provide a sensing method. Referring to Figure 3 as shown, the method includes the following steps:

[0098] Step 301, the receiving node receives the reflected signal reflected by the target object at the position to be sensed.

[0099] Among them, the reflected signal is obtained by reflecting the sensing signal emitted by the transmitting node by the target object.

[0100] In the embodiments of the present application, the transmitting node sends a sensing signal. After the target object moving into the signal coverage range of the transmitting node receives the sensing signal, it performs a reflection process on the sensing signal to obtain a transmitted signal, and the receiving node receives the reflected signal reflected by the target object. The sensing signal emitted by the transmitting node can be, for example: Synchronization Signal / PBCH Block (SSB), Channel State Information Reference Symbol (CSI-RS), Demodulation Reference Signal (DMRS), or Positioning Reference Signal (PRS) and other signals.

[0101] Step 302, the receiving node determines the sensing parameter and the signal quality parameter based on the reflected signal.

[0102] In the embodiments of the present application, after the receiving node receives the reflected signal reflected by the target object, it performs an analysis and parsing on the transmitted signal to determine the sensing parameter and the signal quality parameter corresponding to the reflected signal. The method of analysis and parsing can be, for example, performing background noise and clutter elimination processing on the reflected signal. The signal quality parameter can be, for example, Signal to Interference plus Noise Ratio (SINR).

[0103] Step 303: The receiving node determines the blind area position information based on the sensing parameters and the signal quality parameters.

[0104] Among them, the blind area position information is used to represent the positional relationship between the target object and the blind area of the receiving node.

[0105] In the embodiment of the present application, the receiving node initially locates and analyzes the approximate position of the target object based on the sensing parameters and the signal quality parameters, and then determines whether the target object is within the blind area of the receiving node according to the determined approximate position of the target object, so as to obtain the blind area position information of the target object. For each receiving node, its corresponding blind area is generally near the position of the connection line with other nodes, and the range of the blind area is related to the signal quality. When the signal quality is good, such as large bandwidth and high Signal to Interference plus Noise Ratio (SINR), the range of the blind area is small, and vice versa.

[0106] Step 304: The receiving node sends the blind area position information to the processing node.

[0107] Among them, the blind area position information is used to enable the processing node to determine the precise position of the target object.

[0108] In the embodiment of the present application, the receiving node sends the determined blind area position information about the target object to the processing node.

[0109] Step 305: The processing node receives the blind area position information about the target object at the position to be sensed sent by the receiving node.

[0110] Among them, the blind area position information is used to represent the positional relationship between the target object and the blind area of the receiving node, and is determined by the receiving node based on the reflected signal reflected by the target object received.

[0111] In the embodiment of the present application, the processing node receives the blind area position information of the target object reported by the receiving node.

[0112] Step 306: The processing node determines the precise position of the target object based on the blind area position information sent by at least two receiving nodes.

[0113] In the embodiment of the present application, the processing node determines the number of receiving nodes included in the cooperative sensing cluster. There should be two or more nodes as receiving nodes in the cooperative sensing cluster. Therefore, the processing node can determine the precise position of the target object according to the received blind area position information after receiving the blind area position information sent by all receiving nodes, or after receiving the blind area position information fed back by a preset number of receiving nodes, or after receiving the blind area position information fed back by at least two receiving nodes within a preset time range.

[0114] Based on the foregoing embodiments, in other embodiments of the present application, step 303 may be implemented by steps 303a to 303b:

[0115] Step 303a: The receiving node determines the blind area range corresponding to the receiving node based on the signal quality parameter.

[0116] In the embodiments of the present application, the receiving node analyzes the signal quality parameter to determine the blind area range corresponding to the receiving node itself.

[0117] Step 303b: The receiving node determines the blind area position information based on the sensing parameter and the blind area range.

[0118] Among them, the sensing parameter at least includes: the angle of arrival parameter and the time delay parameter of the signal.

[0119] In the embodiments of the present application, the receiving node determines whether the target object is within the blind area range according to the angle of arrival parameter and the time delay parameter included in the sensing parameter, and obtains the blind area position information according to the result of whether the target object is within the blind area position.

[0120] Based on the foregoing embodiments, in other embodiments of the present application, step 303b may be implemented by steps a11 to a13:

[0121] Step a11: The receiving node determines the first position of the transmitting node and the second position of the receiving node.

[0122] In the embodiments of the present application, the positions of the receiving node itself and the transmitting node are usually accurate. Therefore, the receiving node can obtain the position information of the transmitting node to obtain the first position, and obtain its own position information, that is, the second position.

[0123] Step a12: The receiving node estimates the estimated position of the target object based on the sensing parameter, the first position, and the second position.

[0124] In the embodiments of the present application, the receiving node analyzes the time delay parameter included in the analyzed sensing parameter, the angle of arrival included in the sensing parameter, and the first position of the transmitting node and the second position of the receiving node, and performs preliminary estimation calculation on the target position to obtain the estimated position of the target object.

[0125] For example, the receiving node can use the time delay parameter to determine an ellipse with the first position of the receiving node and the second position of the transmitting node as the foci, and the length of the major axis is the product of the time delay parameter and the speed of light c. Then, the receiving node determines the intersection point of the signal arrival angle of the receiving node on the determined ellipse, and uses this intersection point as the estimated position of the target object.

[0126] Step a13: The receiving node determines the positional relationship between the estimated position and the blind area range to obtain blind area position information.

[0127] Among them, the blind area position information also includes the estimated position.

[0128] In the embodiment of the present application, the receiving node analyzes whether the estimated position is within the blind area range to obtain an analysis result, and uses the analysis result and the estimated position as the blind area position information to send the estimated position of the target object to the processing node, reducing the computational load of the processing node, so that the subsequent processing node can analyze based on the estimated position of the target object to determine the accurate position of the target object.

[0129] Based on the foregoing embodiments, in other embodiments of the present application, the receiving node is further configured to execute step 307:

[0130] Step 307: The receiving node sends the sensing parameters to the processing node.

[0131] In the embodiment of the present application, the receiving node sends the determined sensing parameters to the processing node so that the processing node can determine the accurate position of the target object according to the sensing parameters. At this time, the sensing parameters at least include the angle of arrival parameter and the time delay parameter of the signal.

[0132] Based on the foregoing embodiments, in other embodiments of the present application, step 306 can be implemented by steps 306a - 306b, steps 306c - 306d, or steps 306e - 306f:

[0133] Step 306a: If each blind area position information indicates that the target object is not within the blind area range of the corresponding receiving node, the processing node determines the estimated position of the target object sensed by each receiving node.

[0134] In the embodiment of the present application, after the processing node receives at least two pieces of blind area position information, it analyzes the at least two pieces of blind area position information. If it is determined that each received blind area position information indicates that the target object is no longer within the blind area range of the corresponding receiving node, the processing node determines the estimated position of the target object sensed by each receiving node. When the processing node determines the estimated position of the target object sensed by each receiving node, it can be determined by the processing node according to the signal quality parameter carried in the corresponding blind area position information. The specific process can refer to the process of the receiving node determining the estimated position according to the signal quality parameter, which will not be specifically limited here.

[0135] Step 306b: The processing node determines the accurate position based on the estimated positions corresponding to at least two receiving nodes.

[0136] In the embodiments of the present application, the processing node analyzes based on the estimated positions of the target objects corresponding to at least two receiving nodes determined, and determines the exact positions of the target objects. For example, the mean processing or the method of weighted averaging can be used for the estimated positions of the target objects corresponding to at least two receiving nodes to calculate the exact positions of the target objects.

[0137] Step 306c: If at least one blind area position information indicates that the target object is within the blind area range between the corresponding receiving node and the transmitting node, the processing node takes each receiving node as a starting point, and determines a ray corresponding to each receiving node with the angle of arrival of the signal included in the corresponding sensing parameter as the direction.

[0138] In the embodiments of the present application, when it is determined that at least one blind area position information indicates that the target object is within the blind area range formed between the transmitting node and the corresponding receiving node, the processing node determines the specific position of the target object according to each receiving node and the corresponding angle of arrival of the signal. The specific implementation process is: determining a ray with the detected angle of arrival of the signal corresponding to each receiving node as the direction with each receiving node as the starting point. In this way, at least two rays can be obtained.

[0139] Step 306d: The processing node determines the intersection position of the rays corresponding to at least two receiving nodes as the exact position.

[0140] In the embodiments of the present application, since at least two devices will intersect, the intersection position of at least two rays can be determined as the exact position of the target object.

[0141] Step 306e: If at least one blind area position information indicates that the target object is within the blind area range, and at least one blind area range is not the blind area range between the corresponding receiving node and the transmitting node, the processing node determines an analysis area corresponding to each receiving node based on the time delay parameter included in the sensing parameter of each receiving node, the first position of the corresponding receiving node, and the second position of the transmitting node, and obtains at least two analysis areas.

[0142] In the embodiments of the present application, when at least one blind area position information indicates that the target object is within the blind area range, and at least one blind area range has no relation with the transmitting node, that is, the blind area ranges where the target object is located are all formed between two receiving nodes, the processing node analyzes at least two received sensing parameters, the first positions of at least two receiving nodes, and the second position of the transmitting node, and determines an analysis area corresponding to each receiving node.

[0143] Step 306f: The processing node determines the exact position based on at least two analysis areas and at least two sensing parameters.

[0144] In the embodiment of the present application, the processing node analyzes at least two analysis regions and at least two sensing parameters to determine an accurate position.

[0145] Based on the foregoing embodiment, in other embodiments of the present application, "determining the estimated position of the target object sensed by each receiving node" in step 306a can be implemented through the following steps: The processing node determines the estimated position estimated by each receiving node from each blind area position information.

[0146] In this way, the processing node can directly perform subsequent analysis and calculations based on the estimated positions fed back by each receiving node, reducing the computational pressure on the processing node to calculate and determine the estimated positions of each receiving node.

[0147] Based on the foregoing embodiment, in other embodiments of the present application, when the estimated position of the target object provided is calculated by the processing node itself, after the receiving node executes step 307, the processing node is further configured to execute step 308:

[0148] Step 308, the processing node receives the sensing parameters sent by each receiving node.

[0149] In the embodiment of the present application, when each receiving node also sends the sensing parameters determined by it to the processing node, the processing node is further configured to receive the sensing parameters sent by each receiving node. The sensing parameters at least include a time delay parameter and a signal arrival angle parameter.

[0150] Correspondingly, "determining the estimated position of the target object sensed by each receiving node" in step 306a can be implemented through the following steps b11 to b12:

[0151] Step b11, the processing node determines the first position of the transmitting node and the second position of each receiving node.

[0152] Step b12, the processing node determines the estimated position corresponding to the target object sensed by each receiving node based on the sensing parameters of each receiving node, the first position, and the corresponding second position.

[0153] In the embodiment of the present application, the processing node determines the estimated position corresponding to the target object sensed by each receiving node according to the sensing parameters of each receiving node, the first position, and the corresponding second position, which can refer to the specific implementation process of step a12 and will not be elaborated here.

[0154] Based on the foregoing embodiment, in other embodiments of the present application, step 306f can be implemented by steps c11 to c14:

[0155] Step c11, the processing node determines the intersection points of the edges of at least two analysis regions to obtain at least one target intersection point position.

[0156] Step c12: The processing node determines the angle of arrival of the target signal corresponding to the minimum delay parameter from at least two sensing parameters.

[0157] Step c13: The processing node determines the target node corresponding to the sensing parameter to which the angle of arrival of the target signal belongs.

[0158] Step c14: The processing node determines, from at least one target intersection position, the intersection position where the accurate position is the intersection position pointed to by the angle of arrival of the target signal of the target node.

[0159] Based on the foregoing embodiments, in other embodiments of the present application, as shown in Figure 4 After the processing node executes step 306, it is further configured to execute steps 309-310, or steps 309 and 311:

[0160] Step 309: The processing node detects the current service execution parameters.

[0161] In the embodiments of the present application, the service execution parameters may be parameters such as service requirements, service execution duration, node resources, service status, etc.

[0162] Step 310: If the service execution parameters meet the service termination condition, the processing node ends the sensing process.

[0163] Among them, the service termination condition is at least one of the following: service requirement cancellation, service exceeding the expected time, node resource saturation, and sensing service completion.

[0164] Step 311: If the service execution parameters do not meet the service termination condition, the processing node repeats the step of "receiving the blind area position information of the target object sent by the receiving node" until the service execution parameters meet the service termination condition.

[0165] It should be noted that in some application scenarios, the receiving node may also directly send the detected reflected signal of the target object, or the sensing parameters and signal quality parameters determined according to the reflected signal to the processing node, and perform subsequent corresponding operations after analyzing and determining the blind area position information at the processing node. The operation steps are the same as those in the implementation process at the receiving node and will not be elaborated here.

[0166] Based on the foregoing embodiments, as shown in Figure 5The figure shows a schematic diagram of a cooperative sensing cluster. The cooperative sensing cluster includes Node 1, Node 2, and Node 3. The upper layer designates a single node, such as Node 1, as the transmitting node, and the remaining nodes, such as Node 2 and 3, as receiving nodes. Node 1 can be a base station, a wireless access point, or a server, and is used as a unit for fusing and processing sensing results. The sensing coverage area of the cooperative sensing cluster is the coverage sectors of the nodes within the cluster. The car and the intelligent unmanned helicopter are target objects for which the sensing position needs to be determined. Node 1, as the transmitting node, transmits a sensing signal. As shown in the figure, after the car and the intelligent unmanned helicopter receive the sensing signal transmitted by the transmitting node, they respectively reflect the sensing signal, and the reflected signal is reflected to Node 2 and Node 3, corresponding to the dotted lines in the figure. The corresponding blind area range can be as Figure 6 shown in the shaded part, where there may also be an overlapping situation in some blind areas.

[0167] Based on the foregoing embodiments, an embodiment of the present application provides a sensing method. The implementation process of the sensing method can be shown in the following steps:

[0168] Step d11: The sensing service is triggered.

[0169] Among them, clock synchronization and carrier synchronization are completed between the transmitting node and the receiving node, so as to achieve that when the transmitting node is in the downlink time slot to send a sensing signal, the receiving node is in the uplink time slot to receive the reflected signal after being reflected by the target object.

[0170] Exemplarily, based on Figure 7 the application scenario shown, considering the cellular network, it is assumed that the upper layer network designates base station nodes A, B, and C to form a cooperative cluster. Among them, Node A (ID: 0, position (0, 0) meters (m)) is used as the transmitting node, and Node B (ID: 1, position (260, 150) m) and Node C (ID: 2, position (260, -150) m) are used as receiving nodes, and the node spacing L = 300 m. Clock synchronization and carrier synchronization are completed among Node A, Node B, and Node C. When Node A is in the downlink time slot to send a sensing signal, Node B and Node C are in the uplink time slot to receive the signal reflected by the target.

[0171] Step d12: The transmitting node transmits a sensing signal to the sensing area.

[0172] Among them, the sensing signal can be one or more of the following signals: SSB, CSI-RS, DMRS, PRS, etc.

[0173] Exemplarily, Node A uses an SSB beam to transmit a sensing signal to its sensing area.

[0174] Step d13: The receiving node receives the reflected signal of the sensing signal reflected by the target object.

[0175] Exemplarily, Node B and Node C obtain the reflected signals after the sensing signals are reflected by Targets 1, 2, and 3.

[0176] Step d14: The receiving nodes perform background noise and clutter cancellation processing on the reflected signals, and extract the signal quality parameters and sensing parameters related to the target object.

[0177] Among them, the sensing parameters at least include: the angle of arrival of the signal and the time delay information τ.

[0178] Exemplarily, after Node B and Node C perform background noise and clutter cancellation on the received reflected signals, the corresponding SINR, angle of arrival of the signal, and time delay information are obtained.

[0179] Step d15: The receiving nodes initially estimate the target position.

[0180] Among them, the receiving nodes use the time delay information τ to draw an ellipse with the receiving node and the transmitting node as the foci, and the length of the major axis of the ellipse is τ*c, where c is the speed of light, that is, the sum of the distances from the points on the ellipse to the two foci is τ*c. Then, according to the angle of arrival of the signal φ, the points on the ellipse are determined as the initially estimated target positions.

[0181] Exemplarily, Node B and Node C respectively estimate the target position and judge the blind area identifier F and the blind area nodes related to it. Among them:

[0182] When Node B and Node C determine the estimated position of the target, taking Node B's determination of the estimated position of Target 1 as an example for detailed description, Node B draws an ellipse with Node B and Node A as the foci according to the time delay information τ corresponding to Target 1, and the length of the major axis of the ellipse is τc, where c is the speed of light, that is, the sum of the distances from the points on the ellipse to the two foci is τc. Then, according to the angle of arrival of the signal φ, the points on the ellipse are determined as the initially estimated target positions for Target 1, and correspondingly, it can be as Figure 8 shown, where d1 + d2 = τ*c.

[0183] Step d16: The receiving nodes judge whether the target object is in the blind area formed by other nodes, and obtain the blind area identification information.

[0184] Among them, the blind area identification information can be represented by the blind area identifier F. F = 0 indicates that the target object is not in the blind area, and F = 1 indicates that the target object is in the blind area. The receiving nodes judge the nodes that form the blind area based on the node spatial positions, and the blind area identification information also includes the node numbers of the nodes that form the blind area.

[0185] Exemplarily, the specific implementation processes corresponding to steps c16 and c17 can be as follows: When determining the blind area range between nodes, the blind area range can take the receiving node as the axis, the direction of the connection line between the receiving node and other nodes as the central axis, and the range within -α to α angles on both sides of the central axis is the blind area. The value of α is related to SINR, antenna aperture, etc., and can be calculated using the following calculation formula where λ is the wavelength and D is the aperture.

[0186] The receiving node determines whether the target is within the blind area based on the angle of arrival of the signal and the blind area range. Correspondingly, the analysis results obtained for node B can be as shown in Table 1 below, and the analysis results obtained for node B can be as shown in Table 2 below:

[0187] Table 1

[0188] Node B Angle of Arrival (AOA) of the signal α Time Delay (us) Target Position (m) F Identification of the related blind area node Target 1 -150° 6° 1.02 (106,30) 1 0 Target 2 -120° 7.5° 1.16 (171,-2) 0 Target 3 -92° 9.6° 1.33 (254,5) 1 2

[0189] Table 2

[0190] Node C Angle of Arrival (AOA) of the signal α Time Delay (us) Target Position (m) F Identification of the related blind area node Target 1 123° 8.4° 1.27 (128,53) 0 Target 2 120° 7.5° 1.16 (171,2) 0 Target 3 92° 10.0° 1.40 (254,13) 1 1

[0191] Step d17: The receiving node feeds back the sensing parameters and the target location to the processing node, and at the same time feeds back the blind area identifier F. When F is 1, the node numbers that form the blind area with the receiving node are also fed back.

[0192] Exemplarily, node B and node C bind and feed back the content included in Tables 1 and 2 above to node A.

[0193] Step d18: The processing node determines the exact location of the target object based on the sensing parameters, F value, and blind area node numbers fed back by the receiving node.

[0194] Among them, the specific implementation process can be achieved by referring to the following steps:

[0195] Step d181: When there is no value of F equal to 1 in the F values received by the processing node, calculate the arithmetic mean of the target locations fed back by all receiving nodes to obtain the exact location of the target object.

[0196] Step d182: When there is an F = 1 in the F values received by the processing node and the blind area node numbers include the transmitting node number, determine the rays with the angle of arrival of the signal as the direction for each receiving node as the endpoint, and determine the intersection point of all the obtained rays as the exact location of the target object.

[0197] Step d183: When neither of the above situations is satisfied, use the time delay fed back by each receiving node to obtain an ellipse with the transmitting node and the receiving node as the foci. There are multiple intersection points between the ellipses. Select the intersection point of the ellipse pointed to by the angle of arrival of the signal fed back by the receiving node with the shortest time delay as the exact location of the target object.

[0198] Exemplarily, for Target 1: Target 1 is in the blind area formed by Node B and Node A, and the angle of arrival of the signal fed back by Node B is -150°; it is not in any blind area of Node C, and the angle of arrival of the signal fed back by Node C is 123°. According to the spatial positions of Node B and Node C, (260, 150) m and (260, -150) m, two rays can be drawn, and in this way, the intersection coordinates of the rays, (130, 49) m, can be determined to obtain the final positioning result.

[0199] For Target 2: Target 2 is not in any blind area of Node B. Using the angle of arrival of the signal fed back by Node B, -120°, and the time delay of 1.16 us, the target position of Target 2, (171, -2) m, is estimated according to the spatial position of Node B, (260, 150) m; Target 2 is not in any blind area of Node C. Using the angle of arrival of the signal fed back by Node C, 120°, and the time delay of 1.16 us, the target position of Target 2, (171, 2) m, is estimated according to the spatial position of Node C, (260, -150) m; The mean value is calculated using the above two estimated target positions to obtain (171, 0) m as the final positioning result.

[0200] For Target 3: Target 3 is in the blind area formed by Node B and Node C; the time delay fed back by Node B is smaller, so the angle of arrival of the signal fed back by Node B, -92°, and the time delay of 1.33 us are used; in addition, the time delay of 1.40 us fed back by Node C is used. In this way, according to the spatial position of Node B, (260, 150) m, and the spatial position of Node C, (260, -150) m, two signals' time delays are used to obtain Ellipse 1 with Node B and Node A as foci, and the corresponding major axis of the ellipse is 399 m, and Ellipse 2 with Node C and Node A as foci, and the corresponding major axis of the ellipse is 420 m. As Figure 9 shown, there are 4 intersections between Ellipse 1 and Ellipse 2. Among the 4 intersections, the coordinate of the intersection point D pointed to by the angle of arrival of the signal of Node B corresponding to the minimum time delay, -92°, is determined to be (254, 9) m. In this way, the final positioning result for Target 3 is (254, 9) m.

[0201] Step d19: Repeat steps d12 to d18 until the sensing service meets the termination condition and the sensing process ends.

[0202] In this way, for the unique blind area characteristics in cooperative sensing, a blind area feedback mechanism is designed to assist in the screening, fusion, and processing of cooperative sensing signals, improving the sensing accuracy.

[0203] It should be noted that the roles among the transmitting node, processing node, and receiving node can be interchanged in different application scenarios.

[0204] It should be noted that the descriptions of the same steps and the same content in this embodiment and other embodiments can be referred to the descriptions in other embodiments, and will not be repeated here.

[0205] The perception method provided by the embodiment of the present application is that the receiving node receives the reflected signal reflected by the target object at the position to be perceived, and based on the reflected signal, determines the blind area position information, and then sends the blind area position information to the processing node. After receiving the blind area position information of the target object at the position to be perceived sent by the receiving node, the processing node determines the exact position of the target object based on the blind areas sent by at least two receiving nodes. In this way, by analyzing and processing the blind area position information of the target object fed back by at least two receiving nodes by the processing node, the exact position of the target object is determined, solving the problem of low perception and positioning accuracy in the current perception area, and proposing a method for processing perception signals, reducing the error influence in the perception process, and improving the notification positioning accuracy.

[0206] Based on the foregoing embodiments, the embodiment of the present application provides a first perception device, which is applied to the receiving node, and this device can be applied to Figure 1 、 Figures 3 - 4 the perception method provided in the corresponding embodiment, as shown in Figure 10 The first perception device 4 includes: a first receiving unit 41, a first determining unit 42, and a first sending unit 43; where:

[0207] The first receiving unit 41 is configured to receive the reflected signal reflected by the target object; where the reflected signal is obtained by reflecting the perception signal emitted by the transmitting node by the target object;

[0208] The first determining unit 42 is configured to determine the blind area position information based on the reflected signal; where the blind area position information is used to represent the positional relationship between the target object and the blind area of the receiving node;

[0209] The first sending unit 43 is configured to send the blind area position information to the processing node; where the blind area position information is used to enable the processing node to determine the exact position of the target object.

[0210] In other embodiments of the present application, the first determining unit includes: a first determining module and a second determining module; where:

[0211] The first determining module is configured to determine the perception parameter and the signal quality parameter based on the reflected signal;

[0212] The second determining module is configured to determine the blind area position information based on the perception parameter and the signal quality parameter.

[0213] In other embodiments of the present application, the second determining module is specifically configured to implement the following steps:

[0214] Determine the blind area range corresponding to the receiving node based on signal quality parameters;

[0215] Determine the blind area position information based on the sensing parameters and the blind area range.

[0216] In other embodiments of the present application, the sensing parameters at least include: angle of arrival parameter and time delay parameter of the signal.

[0217] In other embodiments of the present application, when the second determination module is used to implement the step of determining the blind area position information based on the sensing parameters and the blind area range, it can be specifically implemented through the following steps:

[0218] Determine the first position of the transmitting node and the second position of the receiving node;

[0219] Estimate the estimated position of the target object based on the sensing parameters, the first position and the second position;

[0220] Determine the positional relationship between the estimated position and the blind area range to obtain the blind area position information; wherein, the blind area position information also includes the estimated position.

[0221] In other embodiments of the present application, the device further includes a second sending unit; wherein:

[0222] The second sending unit is used to send the sensing parameters to the processing node.

[0223] It should be noted that for the specific implementation process of the information interaction between the units and modules in this embodiment, reference can be made to Figure 1 and Figures 3 - 4 the implementation process in the sensing method provided in the corresponding embodiment, which will not be elaborated here.

[0224] The first sensing device provided in the embodiments of the present application receives the reflected signal reflected by the target object at the position to be sensed through the receiving node, determines the blind area position information based on the reflected signal, and then sends the blind area position information to the processing node, so that the processing node determines the accurate position of the target object based on the blind area positions sent by at least two receiving nodes. In this way, by analyzing and processing the blind area position information of the target object fed back by at least two receiving nodes by the processing node, the accurate position of the target object is determined, solving the problem of low sensing and positioning accuracy in the current sensing area, proposing a method for processing sensing signals, reducing the error influence in the sensing process, and improving the accuracy of informing positioning.

[0225] Based on the foregoing embodiments, the embodiments of the present application provide a second sensing device, which is applied to the processing node, and the device is used to implement as Figures 2 - 4 in the sensing method provided in the corresponding embodiment, with reference to Figure 11As shown in the figure, the second sensing device 5 includes: a second receiving unit 51 and a second determining unit 52; where:

[0226] The second receiving unit 51 is configured to receive the blind area position information about the target object sent by the receiving node;

[0227] The second determining unit 52 is configured to determine the exact position of the target object based on the blind area position information sent by at least two receiving nodes.

[0228] In other embodiments of the present application, the second determining unit includes: a third determining module and a fourth determining module; where:

[0229] If each piece of blind area position information indicates that the target object is not within the blind area range of the corresponding receiving node, determine the estimated position of the target object sensed by each receiving node;

[0230] Determine the exact position based on the estimated positions corresponding to at least two receiving nodes.

[0231] In other embodiments of the present application, when the third determining module is used to implement the step of "determining the estimated position of the target object sensed by each receiving node", it can be implemented through the following steps:

[0232] Receive the estimated position sent by each receiving node.

[0233] In other embodiments of the present application, the second receiving unit is further configured to perform the following steps:

[0234] Receive the sensing parameters sent by each receiving node.

[0235] In other embodiments of the present application, when the third determining module is used to implement the step of "determining the estimated position of the target object sensed by each receiving node", it can be implemented through the following steps:

[0236] Determine the first position of the transmitting node and the second position of each receiving node;

[0237] Based on the sensing parameter, the first position and the corresponding second position of each receiving node, determine the estimated position corresponding to the target object sensed by each receiving node.

[0238] In other embodiments of the present application, the second determining unit further includes: a fifth determining module; where:

[0239] The fifth determining module is configured to, if at least one piece of blind area position information indicates that the target object is within the blind area range between the corresponding receiving node and the transmitting node, take each receiving node as the starting point and use the angle of arrival of the signal included in the corresponding sensing parameter as the direction to determine the ray corresponding to each receiving node;

[0240] A fifth determination module, configured to determine that the intersection position of the rays corresponding to at least two receiving nodes is the accurate position.

[0241] In other embodiments of the present application, the fifth determination module is further configured to perform the following steps:

[0242] If at least one blind area position information indicates that the target object is within the blind area range, and at least one blind area range is not the blind area range between the corresponding receiving node and the transmitting node, based on the delay parameter included in the sensing parameter of each receiving node, the first position of the corresponding receiving node, and the second position of the transmitting node, determine the analysis area corresponding to each receiving node, and obtain at least two analysis areas;

[0243] Based on at least two analysis areas and at least two sensing parameters, determine the accurate position.

[0244] In other embodiments of the present application, when the fifth determination module executes the step of "determining the accurate position based on at least two analysis areas and at least two sensing parameters", it can be implemented by the following steps:

[0245] Determine the intersection points of the edges of at least two analysis areas to obtain at least one target intersection position;

[0246] Determine the target signal arrival angle corresponding to the minimum delay parameter from at least two sensing parameters;

[0247] Determine the target node corresponding to the sensing parameter to which the target signal arrival angle belongs;

[0248] Determine that the accurate position is the intersection position pointed to by the target signal arrival angle of the target node from at least one target intersection position.

[0249] In other embodiments of the present application, after the second determination unit, the second sensing device further includes: a detection unit, an end unit, and a repeated execution unit; where:

[0250] The detection unit is configured to detect the current service execution parameter;

[0251] The end unit is configured to end the sensing process if the service execution parameter meets the service termination condition; where the service termination condition is at least one of the following: service requirement cancellation, service exceeding the expected time, node resource saturation, and sensing service completion;

[0252] The repeated execution unit is configured to, if the service execution parameter does not meet the service termination condition, repeatedly execute the step of "receiving the blind area position information of the target object sent by the receiving node" until the service execution parameter meets the service termination condition.

[0253] It should be noted that for the specific implementation process of information interaction between units and modules in this embodiment, reference can be made toFigures 2 - 5 The implementation process in the perception method provided by the corresponding embodiment will not be elaborated here.

[0254] After the second perception device provided by the embodiment of the present application receives the blind area position information of the target object at the position to be perceived sent by the receiving node through the processing node, it determines the exact position of the target object based on the blind area positions sent by at least two receiving nodes. In this way, by analyzing and processing the blind area position information of the target object fed back by at least two receiving nodes through the processing node to determine the exact position of the target object, the problem of low perception and positioning accuracy in the current perception area is solved, a method for processing perception signals is proposed, the error influence in the perception process is reduced, and the notification positioning accuracy is improved.

[0255] Based on the foregoing embodiments, an embodiment of the present application provides a perception system. Refer to Figure 12 As shown, the perception system 6 may include: an upper-layer network 61, at least two communication nodes 62, and at least one server 63; where:

[0256] The upper-layer network 61 is used to specify at least two communication nodes 62 to form a cooperative perception cluster based on the perception area, specify at least one node as a processing node from at least two communication nodes. Correspondingly, the remaining communication nodes are used as receiving nodes, or specify at least one server as a processing node from at least one server 63. Correspondingly, determine at least one node as a transmitting node from at least two communication nodes, and the remaining communication nodes are used as receiving nodes;

[0257] The receiving node is used to implement the implementation process of the perception method provided by the corresponding embodiment as Figures 2 - 4 The implementation process will not be elaborated in detail here;

[0258] The processing node is used to implement the implementation process of the perception method provided by the corresponding embodiment as Figure 1 and Figures 3 - 4 The implementation process will not be elaborated in detail here.

[0259] Based on the foregoing embodiments, an embodiment of the present application provides a computer-readable storage medium, simply referred to as a storage medium. The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the implementation process in the perception method provided by referring to Figure 1 and Figures 3 - 4 , or Figures 2 - 4 The implementation process will not be elaborated in detail here.

[0260] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0261] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks.

[0262] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one or more of the flows Figure 1 or blocks.

[0263] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks.

[0264] As mentioned above, only the preferred embodiments of the present application are given, and they are not used to limit the protection scope of the present application.

Claims

1. A perception method, characterized in that, The method is applied to a receiving node, and the method includes: Receiving a reflected signal reflected by a target object at a to-be-sensed position; wherein, the reflected signal is obtained by reflecting a sensing signal transmitted by a transmitting node by the target object; Based on the reflected signal, determining blind area position information; wherein, the blind area position information is used to represent the positional relationship between the target object and the blind area of the receiving node; Sending the blind area position information to a processing node; wherein, the blind area position information is used to enable the processing node to determine the exact position of the target object.

2. The method according to claim 1, characterized in that, The determining the blind area position information based on the reflected signal includes: Based on the reflected signal, determining sensing parameters and signal quality parameters; Based on the sensing parameters and the signal quality parameters, determining the blind area position information.

3. The method according to claim 2, wherein The determining the blind area position information based on the sensing parameters and the signal quality parameters includes: Based on the signal quality parameters, determining the blind area range corresponding to the receiving node; Based on the sensing parameters and the blind area range, determining the blind area position information.

4. The method according to claim 3, characterized in that, The sensing parameters at least include: a signal arrival angle parameter and a time delay parameter.

5. The method according to claim 4, wherein The determining the blind area position information based on the sensing parameters and the blind area range includes: Determining a first position of the transmitting node and a second position of the receiving node; Based on the sensing parameters, the first position, and the second position, estimating an estimated position of the target object; Determining the positional relationship between the estimated position and the blind area range to obtain the blind area position information; wherein, the blind area position information further includes the estimated position.

6. The method according to claim 2, characterized in that, The method further includes: Sending the sensing parameters to the processing node.

7. A sensing method, characterized in that The method is applied to a processing node, and the method includes: Receiving the blind area position information of a target object at a to-be-sensed position sent by a receiving node; wherein, the blind area position information is used to represent the positional relationship between the target object and the blind area of the receiving node, and is determined by the receiving node based on the reflected signal received by the target object; Based on the blind area position information sent by at least two of the receiving nodes, determining the exact position of the target object.

8. The method according to claim 7, characterized in that, The determining the exact position of the target object based on the blind area position information sent by at least two of the receiving nodes includes: If each piece of the blind area position information indicates that the target object is not within the blind area range of the corresponding receiving node, determining the estimated position of the target object sensed by each receiving node; Based on the estimated positions corresponding to at least two of the receiving nodes, determining the exact position.

9. The method according to claim 8, characterized in that, The determining the estimated position of the target object sensed by each receiving node includes: Determining the estimated position estimated by each receiving node from each piece of the blind area position information.

10. The method according to claim 6 or 8, characterized in that The method further includes: Receiving the sensing parameters sent by each receiving node.

11. The method according to claim 10, wherein The determining the estimated position of the target object sensed by each receiving node includes: Determining a first position of the transmitting node and a second position of each receiving node; Based on the sensing parameters of each of the receiving nodes, the first position, and the corresponding second position, determine the estimated position of the target object corresponding to each of the receiving nodes.

12. The method according to claim 10, wherein The determining the exact position of the target object based on the blind area position information sent by at least two of the receiving nodes further includes: If at least one of the blind area position information indicates that the target object is within the blind area range between the corresponding receiving node and the transmitting node, taking each receiving node as a starting point, and using the angle of arrival of the signal included in the corresponding sensing parameter as the direction, determine the ray corresponding to each receiving node; Determine the intersection position of the rays corresponding to at least two of the receiving nodes as the exact position.

13. The method according to claim 10, characterized in that, The determining the exact position of the target object based on the sensing parameters and the blind area position information sent by at least two of the receiving nodes further includes: If at least one of the blind area position information indicates that the target object is within the blind area range, and at least one of the blind area ranges is not the blind area range between the corresponding receiving node and the transmitting node, based on the time delay parameter included in the sensing parameter of each receiving node, the first position of the corresponding receiving node, and the second position of the transmitting node, determine the analysis area corresponding to each receiving node, and obtain at least two analysis areas; Based on at least two of the analysis areas and at least two of the sensing parameters, determine the exact position.

14. The method according to claim 13, wherein The determining the exact position based on at least two of the analysis areas and at least two of the sensing parameters includes: Determine the intersection points of the edges of at least two of the analysis areas to obtain at least one target intersection position; Determine the target angle of arrival of the signal corresponding to the minimum time delay parameter from at least two of the sensing parameters; Determine the target node corresponding to the sensing parameter to which the target angle of arrival belongs; From at least one of the target intersection positions, determine the exact position as the intersection position pointed to by the target signal arrival angle of the target node.

15. The method according to claim 7, characterized in that, After determining the exact position of the target object based on the blind area position information sent by at least two of the receiving nodes, the method further includes: Detect the current service execution parameters; If the service execution parameters meet the service termination condition, end the sensing process; where the service termination condition is at least one of the following: service requirement cancellation, service exceeding the expected time, node resource saturation, sensing service completion; If the service execution parameters do not meet the service termination condition, repeat the step of "receiving the blind area position information of the target object sent by the receiving node" until the service execution parameters meet the service termination condition.

16. A first sensing device, characterized in that, The device is applied to a receiving node, and the device includes: a first receiving unit, a first determining unit, and a first sending unit; where: The first receiving unit is configured to receive the reflected signal reflected by the target object; where the reflected signal is obtained by reflecting the sensing signal transmitted by the transmitting node by the target object; The first determination unit is configured to determine blind area position information based on the reflection signal; wherein, the blind area position information is used to represent the positional relationship between the target object and the blind area of the receiving node; The first sending unit is configured to send the blind area position information to the processing node; wherein, the blind area position information is used to enable the processing node to determine the exact position of the target object.

17. A second sensing device, characterized in that, The apparatus is applied to a processing node, and the apparatus includes: a second receiving unit and a second determination unit; wherein: The second receiving unit is configured to receive the blind area position information of the target object sent by the receiving node; The second determination unit is configured to determine the exact position of the target object based on the blind area position information sent by at least two of the receiving nodes.

18. A sensing system, characterized in that, The system includes at least: an upper-layer network, at least two communication nodes, and at least one server; wherein: The upper-layer network is configured to specify at least two of the communication nodes to form a collaborative sensing cluster based on the sensing area, specify at least one node among the at least two communication nodes as a processing node, correspondingly, the remaining communication nodes serve as receiving nodes, or specify at least one server among the at least one server as the processing node, and correspondingly determine at least one node among the at least two communication nodes as a transmitting node, and the remaining communication nodes serve as the receiving nodes; The receiving node is configured to implement the steps of the sensing method according to any one of claims 1 to 6; The processing node is configured to implement the steps of the sensing method according to any one of claims 7 to 15.

19. A storage medium, characterized in that, A sensing program is stored on the storage medium, and when the sensing program is executed, it is configured to implement the steps of the sensing method according to any one of claims 1 to 6, or claims 7 to 15.

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