Time synchronization error elimination method, device, equipment, medium and program product

Abstract

The invention discloses a time synchronization error elimination method, device and equipment, a medium and a program product, and the method comprises the steps: receiving a sensing signal transmitted by a transmitting end, and carrying out the sensing measurement of a to-be-sensed target based on the propagation parameter of the sensing signal; the first sensing position influenced by the time synchronization error and the second sensing position not influenced by the time synchronization error are respectively obtained, and then the time deviation value is calculated based on the first sensing position and the second sensing position, so that the time synchronization error can be eliminated based on the time deviation value in the collaborative sensing process. Therefore, the cooperative sensing precision is improved, and the cooperative sensing requirement of relatively high distance measurement precision is met.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a method, apparatus, terminal equipment, computer-readable storage medium, and computer program product for eliminating time synchronization errors. Background Art

[0002] For the next generation of communication networks, the communication spectrum is developing towards higher frequency bands such as millimeter waves and terahertz. The communication spectrum and the traditional perception spectrum are increasingly overlapping, making the integration of perception and communication possible. That is, the communication function and the perception function are integrated so that the communication system has both communication and perception functions. It can complete the detection, tracking, identification, imaging, etc. of the target or environment while transmitting information, and obtain information such as direction, distance, and speed.

[0003] The working modes of the perception system include independent perception mode and collaborative perception mode. In independent perception mode, a node sends a perception signal, and the node receives the echo signal reflected by the target object on its own, and completes the perception of the target through the self-transmission and self-reception of the signal. The implementation of the independent perception mode is relatively simple, but the self-interference between the transmitting and receiving antennas is large, which may result in the inability to correctly receive and demodulate the echo signal. In collaborative perception mode, a node sends a perception signal, and one or more collaborative nodes receive the echo signal, and complete the perception of the target through joint signal processing. The collaborative perception mode can avoid the problem of large self-interference in the independent perception mode, and at the same time can expand the perception range and achieve continuous coverage, but it also faces the problem of time synchronization errors between nodes.

[0004] In the existing technology, time synchronization accuracy between base stations is usually improved by direct time synchronization through base stations or time synchronization through a wired time network as specified in the 1588v2 protocol. However, the time synchronization errors between base stations using these two methods are usually 50ns and 1μs, and the corresponding ranging errors are 15m and 300m, respectively, which cannot meet the collaborative perception requirements with higher ranging accuracy. Summary of the Invention

[0005] The present invention provides a time synchronization error elimination method, device, equipment, medium and program product to solve the technical problem that the existing technology cannot meet the collaborative perception requirement with high ranging accuracy.

[0006] In order to solve the above technical problem, a first aspect of an embodiment of the present invention provides a method for eliminating time synchronization errors, which is performed by a receiving end and includes:

[0007] receiving, based on the indication information sent by the sending end, a perception signal sent by the sending end;

[0008] When the sensing signal is received at least once, performing sensing measurement on a target to be sensed based on a first propagation parameter of the sensing signal to obtain a first sensing position of the target to be sensed; wherein the first sensing position is a sensing position affected by a time synchronization error;

[0009] performing a perception measurement on the target to be perceived based on the second propagation parameter of the perception signal to obtain a second perception position of the target to be perceived;

[0010] Calculating the relative distance between the first sensing position and the second sensing position and the corresponding signal propagation delay;

[0011] A time deviation value is determined based on the signal propagation delay calculated when the perception signal is received at least once; wherein the time deviation value is used to eliminate a time synchronization error in the collaborative perception process.

[0012] As a preferred solution, the first propagation parameter includes but is not limited to a propagation delay measurement value and an arrival angle; performing a perception measurement on a target to be perceived based on the first propagation parameter of the perception signal to obtain a first perception position of the target to be perceived specifically includes:

[0013] determining a propagation distance of the sensing signal based on the propagation delay measurement value and a preset signal propagation rate;

[0014] Obtaining a first sensing distance from the target to be sensed by using the law of cosines according to the propagation distance, the angle of arrival, and a preset distance from the transmitting end;

[0015] The first sensing position is determined according to the first sensing distance, the arrival angle, and preset receiving end position information.

[0016] As a preferred solution, the second propagation parameter includes but is not limited to an arrival angle and a launch angle; the launch angle is obtained from the indication information; performing a perception measurement on the target to be perceived based on the second propagation parameter of the perception signal to obtain a second perception position of the target to be perceived specifically includes:

[0017] Obtaining a second sensing distance from the target to be sensed by the law of sine according to the arrival angle, the emission angle, and a preset distance from the transmitting end;

[0018] A second sensing position of the target to be sensed is determined according to the second sensing distance, the arrival angle, and preset receiving end position information.

[0019] As a preferred solution, determining the time offset value based on the signal propagation delay calculated when the perception signal is received at least once specifically includes:

[0020] Based on the signal propagation delay calculated when the sensing signal is received any time, the signal propagation delay is used as the time deviation value;

[0021] Alternatively, based on a plurality of signal propagation delays calculated when the sensing signal is received a plurality of times, an average value of the plurality of signal propagation delays is calculated, and the average value is used as the time deviation value.

[0022] As a preferred solution, the receiving, based on the indication information sent by the sending end, the perception signal sent by the sending end specifically includes:

[0023] Acquire the time domain position of the perception signal from the indication information;

[0024] The perception signal is received at the time domain location.

[0025] As a preferred solution, the method specifically obtains the emission angle through the following steps:

[0026] A beam direction angle corresponding to the time domain position of the perception signal is obtained from the indication information, and the beam direction angle is used as the transmission angle of the perception signal.

[0027] As a preferred solution, the method further comprises:

[0028] Feedback the time deviation value to the sending end.

[0029] A second aspect of an embodiment of the present invention provides a method for eliminating time synchronization errors, the method being performed by a transmitting end and comprising:

[0030] Configuring indication information of sensing signals;

[0031] Sending the indication information to at least one receiving end, and sending the perception signal based on the indication information; wherein the indication information is used to instruct at least one receiving end to receive the perception signal;

[0032] receiving a time deviation value fed back by the receiving end; wherein the time deviation value is obtained by the receiving end performing a perception measurement on a target to be perceived based on the received perception signal and calculating based on a result of the perception measurement;

[0033] When serving as a receiving end of the sensing signal in the collaborative sensing process, the time deviation value is used to eliminate the time synchronization error in the collaborative sensing process.

[0034] As a preferred solution, the indication information includes at least one time domain position, a sending period, a sending duration, and a beam direction angle corresponding to each time domain position of the perception signal.

[0035] As a preferred solution, the sensing signal forms at least one transmission beam at each time domain position through a preset beamforming method; wherein the beamforming method includes but is not limited to analog beamforming, digital beamforming and digital-analog hybrid beamforming.

[0036] A third aspect of an embodiment of the present invention provides a time synchronization error elimination device, including:

[0037] a perception signal receiving module, configured to receive a perception signal sent by the sending end based on the indication information sent by the sending end;

[0038] a first sensing measurement module, configured to, upon receiving the sensing signal at least once, perform sensing measurement on a target to be sensed based on a first propagation parameter of the sensing signal, and obtain a first sensing position of the target to be sensed; wherein the first sensing position is a sensing position affected by a time synchronization error;

[0039] a second perception measurement module, configured to perform perception measurement on the target to be perceived based on a second propagation parameter of the perception signal, to obtain a second perception position of the target to be perceived;

[0040] a signal propagation delay calculation module, configured to calculate the relative distance between the first sensing position and the second sensing position and the corresponding signal propagation delay;

[0041] A time deviation value calculation module is used to determine a time deviation value based on the signal propagation delay calculated when the perception signal is received at least once; wherein the time deviation value is used to eliminate the time synchronization error in the collaborative perception process.

[0042] A fourth aspect of an embodiment of the present invention provides a time synchronization error elimination device, including:

[0043] An indication information configuration module, used to configure indication information of the sensing signal;

[0044] a perception signal sending module, configured to send the indication information to at least one receiving end, and send the perception signal based on the indication information; wherein the indication information is used to instruct at least one receiving end to receive the perception signal;

[0045] a time deviation value acquisition module, configured to receive the time deviation value fed back by the receiving end; wherein the time deviation value is obtained by the receiving end performing a perception measurement on the target to be perceived based on the received perception signal and calculating based on the result of the perception measurement;

[0046] The time synchronization error elimination module is used to eliminate the time synchronization error in the collaborative sensing process by using the time deviation value when serving as a receiving end of the sensing signal in the collaborative sensing process.

[0047] The fifth aspect of an embodiment of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, it implements the time synchronization error elimination method as described in any one of the first aspects or the time synchronization error elimination method as described in any one of the second aspects.

[0048] A sixth aspect of an embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the time synchronization error elimination method as described in any one of the first aspects or the time synchronization error elimination method as described in any one of the second aspects.

[0049] A seventh aspect of an embodiment of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the time synchronization error elimination method as described in any one of the first aspects or the steps of the time synchronization error elimination method as described in any one of the second aspects.

[0050] Compared with the prior art, the beneficial effect of the embodiments of the present invention is that, by receiving the perception signal sent by the transmitting end and performing perception measurement on the target to be perceived based on the propagation parameters of the perception signal, a first perception position affected by the time synchronization error and a second perception position not affected by the time synchronization error are obtained, respectively. Then, a time deviation value is calculated based on the first perception position and the second perception position. The time synchronization error can be eliminated based on the time deviation value during the collaborative perception process, thereby improving the collaborative perception accuracy and meeting the collaborative perception requirements with high ranging accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 1 is a flow chart of a method for eliminating time synchronization errors performed by a receiving end in an embodiment of the present invention;

[0052] Figure 2 is a schematic diagram of performing perception measurement on a first perception position of a target to be perceived in an embodiment of the present invention;

[0053] Figure 3is a schematic diagram of performing perception measurement on a second perception position of a target to be perceived in an embodiment of the present invention;

[0054] Figure 4 1 is a flow chart of a method for eliminating time synchronization errors performed by a transmitting end in an embodiment of the present invention;

[0055] Figure 5 2 is a schematic structural diagram of a time synchronization error elimination device applied to a receiving end in an embodiment of the present invention;

[0056] Figure 6 2 is a schematic structural diagram of a time synchronization error elimination device applied to a transmitting end in an embodiment of the present invention;

[0057] Figure 7 It is a schematic structural diagram of a terminal device in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0059] See also Figure 1 , Figure 1 1 is a flow chart of a method for eliminating time synchronization errors performed by a receiving end in accordance with an embodiment of the present invention. A first aspect of an embodiment of the present invention provides a method for eliminating time synchronization errors, the method being performed by a receiving end and comprising the following steps S11 to S15:

[0060] Step S11: receiving a perception signal sent by the sending end based on the indication information sent by the sending end;

[0061] Step S12: When the sensing signal is received at least once, sensing measurement is performed on the target to be sensed based on the first propagation parameter of the sensing signal to obtain a first sensing position of the target to be sensed; wherein the first sensing position is a sensing position affected by a time synchronization error;

[0062] Step S13: performing perception measurement on the target to be perceived based on the second propagation parameter of the perception signal to obtain a second perception position of the target to be perceived;

[0063] Step S14: calculating the relative distance between the first sensing position and the second sensing position and the corresponding signal propagation delay;

[0064] Step S15: determining a time deviation value based on the signal propagation delay calculated when the perception signal is received at least once; wherein the time deviation value is used to eliminate a time synchronization error in the collaborative perception process.

[0065] Specifically, because the indication information sent by the transmitter carries the transmission configuration information of the perception signal, and the perception signal, after encountering the target to be perceived, is reflected by the target to be perceived to the receiver for reception, this embodiment first receives the perception signal sent by the transmitter based on the indication information of the transmitter. Furthermore, this embodiment takes into account that the propagation parameters of the perception signal can reflect the propagation distance of the perception signal, thereby being able to determine the position information of the target to be perceived. Therefore, in order to determine the time offset value with the transmitter, this embodiment performs perception measurements on the target to be perceived based on different propagation parameters to obtain a first perception position and a second perception position that are affected by and not affected by the time synchronization error, respectively. As a result, a distance difference between the first perception position and the second perception position due to the time synchronization error exists, and this distance difference can reflect the time synchronization error with the transmitter.

[0066] Furthermore, this embodiment calculates the relative distance between the first sensing position and the second sensing position, and determines the signal propagation delay corresponding to the relative distance based on a preset signal propagation rate. Specifically, the corresponding signal propagation delay can be determined by the ratio of the relative distance to the preset signal propagation rate. The signal propagation delay reflects the time synchronization error with the transmitting end. Then, based on the signal propagation delay calculated when the perception signal is received at least once, the time deviation value is determined to eliminate the time synchronization error in the subsequent collaborative perception process.

[0067] It is worth noting that the target to be sensed in this embodiment can be a person, animal, plant, or other object, etc., and this embodiment does not specifically limit this. In addition, the target to be sensed is relatively stationary. It is understandable that in one case, the target to be sensed is actually stationary, and in another case, the target to be sensed moves faster. Assuming the subcarrier spacing is 60kHz, each time slot is 0.25ms, and assuming that 56 directions of beam scanning are performed, with one beam sent in each direction, the time to complete a scan is 1ms. Assuming that the speed of the high-speed moving target to be sensed is 10m / s, then within 1ms, the target to be sensed moves 1cm and can be considered relatively stationary.

[0068] The time synchronization error elimination method provided in an embodiment of the present invention receives a perception signal sent by a transmitting end and performs perception measurement on a target to be perceived based on the propagation parameters of the perception signal, thereby obtaining a first perception position affected by the time synchronization error and a second perception position not affected by the time synchronization error. A time deviation value is then calculated based on the first perception position and the second perception position. The time synchronization error can be eliminated based on the time deviation value during the collaborative perception process, thereby improving the collaborative perception accuracy and meeting the collaborative perception requirements with high ranging accuracy.

[0069] As a preferred solution, the first propagation parameter includes but is not limited to a propagation delay measurement value and an arrival angle; performing a perception measurement on a target to be perceived based on the first propagation parameter of the perception signal to obtain a first perception position of the target to be perceived specifically includes:

[0070] determining a propagation distance of the sensing signal based on the propagation delay measurement value and a preset signal propagation rate;

[0071] Obtaining a first sensing distance from the target to be sensed by using the law of cosines according to the propagation distance, the angle of arrival, and a preset distance from the transmitting end;

[0072] The first sensing position is determined according to the first sensing distance, the arrival angle, and preset receiving end position information.

[0073] Specifically, in one sensing measurement mode, this embodiment achieves acquisition of a first sensed location based on the propagation delay measurement value and arrival angle of the sensing signal. It is understandable that each base station typically has a separate clock source, and different clock sources may have different oscillation frequencies of crystal oscillators, resulting in time asynchrony between different base stations, i.e., causing inter-station synchronization error. When collaborative sensing is required, the propagation delay measurement value of the sensing signal can reflect the propagation path of the sensing signal, i.e., the path that the sensing signal takes from the transmitter to the receiver after being reflected by the target to be sensed. Therefore, the target to be sensed can be located based on the propagation delay measurement value. However, due to the presence of the inter-station synchronization error value, the measured propagation delay actually includes the actual propagation delay in the absence of time synchronization error and the inter-station synchronization error value. Therefore, the sensed location obtained based on the measured propagation delay and the actual location deviates. Therefore, in this sensing measurement mode, the first sensed location obtained based on the propagation delay measurement value and arrival angle is affected by the time synchronization error.

[0074] After receiving the sensing signal, this embodiment can obtain the propagation delay measurement value and arrival angle of the sensing signal through signal processing. First, based on the product of the propagation delay measurement value and the preset signal propagation rate, it can determine the propagation distance of the sensing signal, that is, the path length of the sensing signal from the transmitting end to the receiving end after being reflected by the target to be sensed. Figure 2 As shown, the propagation path of the perception signal and the straight path between the transmitter and the receiver form a triangle. Therefore, this embodiment uses the law of cosines to obtain a first perception distance to the target to be perceived based on the propagation distance, arrival angle, and preset distance from the transmitter of the perception signal. The specific expression is as follows:

[0075] d0 2 =d1 2 +L 2 -2d1L cosθ2;

[0076] d=d0+d1;

[0077] Wherein, d0 represents the distance between the transmitter and the target to be sensed; d1 represents the first sensing distance between the transmitter and the target to be sensed; L represents the preset distance from the transmitter; θ2 represents the arrival angle of the sensing signal; and d represents the propagation distance of the sensing signal.

[0078] From the above expression we can further get:

[0079]

[0080] Based on the above expression, the first perception distance to the target to be perceived can be obtained. Further, assuming that the preset receiving end position information is (x, y), the coordinates of the first perception position are specifically (x-d1 cosθ2, y+d1 sinθ2).

[0081] It is worth noting that the first propagation parameter in this embodiment includes but is not limited to the propagation delay measurement value and the arrival angle. Other propagation parameters can also be used to achieve the perception measurement of the first perception position. It is only necessary to ensure that the first perception position is the perception position affected by the time synchronization error. This embodiment does not make specific limitations on the first propagation parameter.

[0082] The time synchronization error elimination method provided in an embodiment of the present invention is based on the propagation delay measurement value, arrival angle, and distance between the receiving end and the transmitting end of the perception signal, and uses the cosine theorem to effectively obtain the first perception position of the target to be perceived that is affected by the time synchronization error.

[0083] As a preferred solution, the second propagation parameter includes but is not limited to an arrival angle and a launch angle; the launch angle is obtained from the indication information; and performing a perception measurement on the target to be perceived based on the second propagation parameter of the perception signal to obtain a second perception position of the target to be perceived specifically includes:

[0084] Obtaining a second sensing distance from the target to be sensed by the law of sine according to the arrival angle, the emission angle, and a preset distance from the transmitting end;

[0085] A second sensing position of the target to be sensed is determined according to the second sensing distance, the arrival angle, and preset receiving end position information.

[0086] Specifically, in another perception measurement method, this embodiment acquires the second perception position based on the arrival angle and emission angle of the perception signal. Since the arrival angle and emission angle are not affected by the time synchronization error, the acquired second perception position is also not affected by the time synchronization error.

[0087] like Figure 3 As shown, the propagation path of the sensing signal and the straight path between the transmitter and the receiver form a triangle. In this embodiment, based on the arrival angle and emission angle of the sensing signal and the preset distance from the transmitter, the second sensing distance to the target to be sensed is obtained using the law of sine. The specific expression is as follows:

[0088]

[0089] Wherein, L represents the preset distance from the transmitter; θ1 represents the emission angle of the perception signal; θ2 represents the arrival angle of the perception signal; and d2 represents the second perception distance from the target to be perceived.

[0090] From the above expression we can further get:

[0091]

[0092] Based on the above expression, the second perception distance to the target to be perceived can be obtained. Further, assuming that the preset receiving end position information is (x, y), the coordinates of the second perception position are specifically (x-d2 cosθ2, y+d2 sinθ2).

[0093] It is worth noting that the second propagation parameters in this embodiment include but are not limited to the arrival angle and the emission angle. Other propagation parameters can also be used to achieve the perception measurement of the second perception position. It is only necessary to ensure that the second perception position is a perception position that is not affected by the time synchronization error. This embodiment does not make specific limitations on the second propagation parameters.

[0094] The time synchronization error elimination method provided in an embodiment of the present invention is based on the transmission angle, arrival angle and distance between the receiving end and the transmitting end of the perception signal, and uses the sine theorem to accurately obtain the second perception position of the target to be perceived that is not affected by the time synchronization error.

[0095] As a preferred solution, determining the time offset value based on the signal propagation delay calculated when the perception signal is received at least once specifically includes:

[0096] Based on the signal propagation delay calculated when the sensing signal is received any time, the signal propagation delay is used as the time deviation value;

[0097] Alternatively, based on a plurality of signal propagation delays calculated when the sensing signal is received a plurality of times, an average value of the plurality of signal propagation delays is calculated, and the average value is used as the time deviation value.

[0098] Specifically, this embodiment may receive the perception signal once, twice, or more than once within the perception signal transmission time. Accordingly, when the perception signal is received at least once, this embodiment may directly use the signal propagation delay calculated upon any one of the perception signal receptions as the time offset value with the transmitting end. When the perception signal is received at least twice, to minimize the error in the time offset value and thereby improve the accuracy of the ultimately determined time offset value, this embodiment may also calculate an average of multiple signal propagation delays calculated upon multiple perception signal receptions and use this average as the time offset value. It will be understood that the calculation of the average signal propagation delay may be based on multiple signal propagation delays calculated upon any two, any three, any four, any four or more times, or even each time the perception signal is received. This embodiment does not limit the number of perception measurements performed on the perception signal.

[0099] The time synchronization error elimination method provided in an embodiment of the present invention can ensure the accuracy of the time deviation value by determining the time deviation value based on the signal propagation delay calculated when any perception signal is received, which helps to eliminate time synchronization errors in subsequent collaborative perception processes.

[0100] As a preferred solution, the receiving, based on the indication information sent by the sending end, the perception signal sent by the sending end specifically includes:

[0101] Acquire the time domain position of the perception signal from the indication information;

[0102] The perception signal is received at the time domain location.

[0103] Specifically, in this embodiment, the indication information sent by the transmitter includes the time domain location at which the perception signal is sent. In order to effectively receive the perception signal and perform perception measurement, this embodiment receives the perception signal at the specified time domain location based on the indication information.

[0104] As a preferred solution, the method specifically obtains the emission angle through the following steps:

[0105] A beam direction angle corresponding to the time domain position of the perception signal is obtained from the indication information, and the beam direction angle is used as the transmission angle of the perception signal.

[0106] It is worth noting that in this embodiment, the indication information sent by the transmitting end includes the beam direction angle corresponding to the time domain position of the perception signal, so that when the perception signal is perceived, the beam direction angle can be directly obtained as the transmission angle of the perception signal, which helps to improve the efficiency of the perception measurement.

[0107] As a preferred solution, the method further comprises:

[0108] Feedback the time deviation value to the sending end.

[0109] Specifically, during the collaborative perception process, the transmitter and the receiver may be interchanged, that is, the transmitter serves as the receiver of the perception signal during the collaborative perception process, and the receiver serves as the transmitter of the perception signal during the collaborative perception process. In this case, if the original transmitter does not obtain the time deviation value between it and the original receiver in advance, the result of the collaborative perception will have errors due to the time synchronization error. Therefore, this embodiment feeds back the time deviation value to the transmitter after determining it, so that when the transmitter serves as the receiver of the perception signal during the collaborative perception process, the time deviation value can be used to eliminate the time synchronization error in the collaborative perception process.

[0110] See also Figure 4 , Figure 4 1 is a flow chart of a method for eliminating time synchronization errors performed by a transmitting end in accordance with an embodiment of the present invention. A second aspect of an embodiment of the present invention provides a method for eliminating time synchronization errors, the method being performed by a transmitting end and comprising the following steps S21 to S24:

[0111] Step S21, configuring indication information of the sensing signal;

[0112] Step S22: sending the indication information to at least one receiving end, and sending the perception signal based on the indication information; wherein the indication information is used to instruct at least one receiving end to receive the perception signal;

[0113] Step S23: receiving a time deviation value fed back by the receiving end; wherein the time deviation value is obtained by the receiving end performing a perception measurement on the target to be perceived based on the received perception signal and calculating based on the result of the perception measurement;

[0114] Step S24: When serving as a receiving end of the sensing signal in the collaborative sensing process, the time deviation value is used to eliminate the time synchronization error in the collaborative sensing process.

[0115] Specifically, this embodiment first configures indication information for the perception signal. Preferably, the indication information includes at least one time domain position, a transmission period, a transmission duration, and a beam direction angle corresponding to each time domain position of the perception signal. Furthermore, the indication information is sent to at least one receiving end to inform the receiving end of the relevant transmission information of the perception signal, and then the perception signal is sent based on the indication information. Exemplarily, this embodiment sends the indication information to at least one receiving end via an Xn interface. It is understandable that this embodiment can send the indication information only to one receiving end so that the receiving end determines the time offset value with the transmitting end based on the received perception signal, or can send the indication information to multiple receiving ends so that each receiving end determines the time offset value with the transmitting end based on its respective received perception signal. Since the collaborative perception process typically involves one transmitting end and multiple receiving ends, sending the indication information to multiple receiving ends simultaneously reduces the time required compared to a single receiving end determining the time offset value with the transmitting end based on the received perception signal.

[0116] Furthermore, a time deviation value fed back by any receiving end is received. It is worth noting that the time deviation value is obtained by the receiving end performing a perception measurement on the target to be perceived based on the received perception signal and calculating based on the result of the perception measurement. Specifically, in the process of the time synchronization error elimination method performed by the receiving end as described above, the receiving end first performs a perception measurement on the target to be perceived based on the first propagation parameter of the perception signal when receiving the perception signal at least once, and obtains a first perception position of the target to be perceived; wherein the first perception position is a perception position affected by the time synchronization error; then, the receiving end performs a perception measurement on the target to be perceived based on the second propagation parameter of the perception signal, and obtains a second perception position of the target to be perceived; wherein the second perception position is a perception position not affected by the time synchronization error; further, the receiving end calculates the relative distance between the first perception position and the second perception position and the corresponding signal propagation delay, and then determines the time deviation value based on the signal propagation delay calculated when the perception signal is received at least once.

[0117] Furthermore, when this embodiment acts as a receiving end of the perception signal in the collaborative perception process, since it is necessary to complete collaborative perception of the target to be perceived based on the received perception signal, in order to eliminate the time synchronization error with the current transmitting end, it is necessary to use the time deviation value to eliminate the time synchronization error in the collaborative perception process. It can be understood that the time deviation value is the feedback given by the current transmitting end when it acts as a receiving end.

[0118] The time synchronization error elimination method provided in an embodiment of the present invention configures and transmits indication information of a perception signal to at least one receiving end. This method can instruct the receiving end to effectively receive the perception signal, thereby ensuring that the receiving end can perform perception measurement of the target to be perceived based on the received perception signal and calculate a time deviation value based on the perception measurement result. In addition, by obtaining the time deviation value fed back by the receiving end, when the receiving end serves as the receiving end of the perception signal during the collaborative sensing process, the time deviation value can be used to eliminate time synchronization errors during the collaborative sensing process, thereby improving the accuracy of collaborative sensing and meeting the collaborative sensing requirement of high ranging accuracy.

[0119] As a preferred solution, the sensing signal forms at least one transmission beam at each time domain position through a preset beamforming method; wherein the beamforming method includes but is not limited to analog beamforming, digital beamforming and digital-analog hybrid beamforming.

[0120] Specifically, in this embodiment, the perception signal in each transmission cycle has the characteristics of beam scanning, which includes several time domain positions. At least one transmission beam is formed at each time domain position through beamforming methods such as analog beamforming, digital beamforming, and analog-digital hybrid beamforming. The main lobe of the transmission beam is narrow, which can better meet the needs of high-precision angle measurement. At the same time, the perception signal can also be sent to multiple receiving ends. Compared with sending the perception signal only to a single receiving end, the time required for each receiving end to determine the time deviation value can be greatly shortened.

[0121] In addition, since the perception measurement method in the embodiment of the present invention requires both the transmitting end and the receiving end to perform beam scanning, and each beam scan includes more beam directions, the overhead is relatively large. Compared with the collaborative perception stage, it is more suitable to be performed in the non-cooperative perception stage to obtain the time deviation value used to eliminate time synchronization errors.

[0122] See also Figure 5 , Figure 5 1 is a schematic diagram of the structure of a time synchronization error elimination device 100 applied to a receiving end in an embodiment of the present invention. A third aspect of an embodiment of the present invention provides a time synchronization error elimination device 100, comprising:

[0123] A perception signal receiving module 11 is configured to receive a perception signal sent by a sending end based on the indication information sent by the sending end;

[0124] a first sensing measurement module 12 configured to, upon receiving the sensing signal at least once, perform sensing measurement on a target to be sensed based on a first propagation parameter of the sensing signal to obtain a first sensing position of the target to be sensed; wherein the first sensing position is a sensing position affected by a time synchronization error;

[0125] A second perception measurement module 13 is configured to perform perception measurement on the target to be perceived based on the second propagation parameter of the perception signal to obtain a second perception position of the target to be perceived;

[0126] a signal propagation delay calculation module 14, configured to calculate the relative distance between the first sensing position and the second sensing position and the corresponding signal propagation delay;

[0127] The time deviation value calculation module 15 is used to determine a time deviation value based on the signal propagation delay calculated when the perception signal is received at least once; wherein the time deviation value is used to eliminate the time synchronization error in the collaborative perception process.

[0128] As a preferred solution, the first propagation parameter includes but is not limited to a propagation delay measurement value and an arrival angle; the first perception measurement module 12 is configured to perform perception measurement on a target to be perceived based on the first propagation parameter of the perception signal to obtain a first perception position of the target to be perceived, specifically including:

[0129] determining a propagation distance of the sensing signal based on the propagation delay measurement value and a preset signal propagation rate;

[0130] Obtaining a first sensing distance from the target to be sensed by using the law of cosines according to the propagation distance, the angle of arrival, and a preset distance from the transmitting end;

[0131] The first sensing position is determined according to the first sensing distance, the arrival angle, and preset receiving end position information.

[0132] As a preferred solution, the second propagation parameter includes but is not limited to an arrival angle and a launch angle; the launch angle is obtained by the second perception measurement module 13 from the indication information; the second perception measurement module 13 is configured to perform perception measurement on the target to be perceived based on the second propagation parameter of the perception signal to obtain a second perception position of the target to be perceived, specifically including:

[0133] Obtaining a second sensing distance from the target to be sensed by the law of sine according to the arrival angle, the emission angle, and a preset distance from the transmitting end;

[0134] A second sensing position of the target to be sensed is determined according to the second sensing distance, the arrival angle, and preset receiving end position information.

[0135] As a preferred solution, the time deviation value calculation module 15 is configured to determine the time deviation value based on the signal propagation delay calculated when the perception signal is received at least once, specifically including:

[0136] Based on the signal propagation delay calculated when the sensing signal is received any time, the signal propagation delay is used as the time deviation value;

[0137] Alternatively, based on a plurality of signal propagation delays calculated when the sensing signal is received a plurality of times, an average value of the plurality of signal propagation delays is calculated, and the average value is used as the time deviation value.

[0138] As a preferred solution, the perception signal receiving module 11 is configured to receive the perception signal sent by the sending end based on the indication information sent by the sending end, specifically including:

[0139] Acquire the time domain position of the perception signal from the indication information;

[0140] The perception signal is received at the time domain location.

[0141] As a preferred solution, the second perception measurement module 13 is further configured to:

[0142] A beam direction angle corresponding to the time domain position of the perception signal is obtained from the indication information, and the beam direction angle is used as the transmission angle of the perception signal.

[0143] As a preferred solution, the time deviation value calculation module 15 is further used to:

[0144] Feedback the time deviation value to the sending end.

[0145] The time synchronization error elimination device 100 provided in an embodiment of the present invention receives a perception signal sent by a transmitting end and performs perception measurement on a target to be perceived based on propagation parameters of the perception signal, thereby obtaining a first perception position affected by a time synchronization error and a second perception position not affected by the time synchronization error. A time deviation value is then calculated based on the first perception position and the second perception position. The time synchronization error can be eliminated based on the time deviation value during the collaborative perception process, thereby improving the collaborative perception accuracy and meeting the collaborative perception requirements with high ranging accuracy.

[0146] See also Figure 6 , Figure 6 2 is a schematic diagram of a time synchronization error elimination device 200 applied to a transmitting end in accordance with an embodiment of the present invention. A fourth aspect of an embodiment of the present invention provides a time synchronization error elimination device 200, comprising:

[0147] An indication information configuration module 21, configured to configure indication information of a sensing signal;

[0148] a perception signal sending module 22, configured to send the indication information to at least one receiving end, and to send the perception signal based on the indication information; wherein the indication information is used to instruct at least one receiving end to receive the perception signal;

[0149] a time deviation value acquisition module 23, configured to receive the time deviation value fed back by the receiving end; wherein the time deviation value is obtained by the receiving end performing a perception measurement on the target to be perceived based on the received perception signal and calculating based on the result of the perception measurement;

[0150] The time synchronization error elimination module 24 is configured to eliminate the time synchronization error in the collaborative sensing process by using the time deviation value when serving as a receiving end of the sensing signal in the collaborative sensing process.

[0151] As a preferred solution, the indication information includes at least one time domain position, a sending period, a sending duration, and a beam direction angle corresponding to each time domain position of the perception signal.

[0152] As a preferred solution, the sensing signal forms at least one transmission beam at each time domain position through a preset beamforming method; wherein the beamforming method includes but is not limited to analog beamforming, digital beamforming and digital-analog hybrid beamforming.

[0153] The time synchronization error elimination device 200 provided in an embodiment of the present invention configures and transmits indication information of a perception signal to at least one receiving end, thereby instructing the receiving end to effectively receive the perception signal. This ensures that the receiving end can perform perception measurement of a target to be perceived based on the received perception signal, and calculate a time deviation value based on the perception measurement result. In addition, by obtaining the time deviation value fed back by the receiving end, when the receiving end serves as the receiving end of the perception signal during the collaborative sensing process, the time deviation value can be used to eliminate time synchronization errors during the collaborative sensing process, thereby improving the accuracy of collaborative sensing and meeting the requirements of collaborative sensing with high ranging accuracy.

[0154] See also Figure 7 , Figure 7is a schematic diagram of the structure of a terminal device 300 in an embodiment of the present invention. A fifth aspect of the embodiments of the present invention provides a terminal device 300, comprising a memory 32, a processor 31, and a computer program stored in the memory 32 and executable on the processor 31. When the processor 31 executes the computer program, it implements the time synchronization error elimination method as described in any embodiment of the first aspect or the time synchronization error elimination method as described in any embodiment of the second aspect.

[0155] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory 32 and executed by the processor 31 to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device 300.

[0156] The terminal device 300 may include, but is not limited to, a processor 31 and a memory 32. Those skilled in the art will appreciate that the schematic diagram is merely an example of the terminal device 300 and does not limit the terminal device 300. The terminal device 300 may include more or fewer components than shown, or may combine certain components or different components. For example, the terminal device 300 may also include input and output devices, network access devices, buses, and the like.

[0157] The processor 31 may be a central processing unit (CPU), or other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor 31 is the control center of the terminal device 300 and connects various parts of the entire terminal device 300 using various interfaces and lines.

[0158] The memory 32 can be used to store the computer programs and / or modules. The processor 31 implements the various functions of the terminal device 300 by running or executing the computer programs and / or modules stored in the memory 32 and accessing the data stored in the memory 32. The memory 32 may mainly include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area may store data generated based on the use of the mobile phone (such as audio data, a phone book, etc.). In addition, the memory 32 may include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0159] A sixth aspect of an embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the time synchronization error elimination method as described in any embodiment of the first aspect or the time synchronization error elimination method as described in any embodiment of the second aspect.

[0160] A seventh aspect of an embodiment of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the time synchronization error elimination method as described in any embodiment of the first aspect or the steps of the time synchronization error elimination method as described in any embodiment of the second aspect.

[0161] Wherein, if the module / unit integrated in the terminal device 300 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor 31, it can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0162] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for eliminating time synchronization errors, characterized in that: The method is executed by a receiving end and includes: receiving, based on the indication information sent by the sending end, a perception signal sent by the sending end; When the sensing signal is received at least once, performing sensing measurement on a target to be sensed based on a first propagation parameter of the sensing signal to obtain a first sensing position of the target to be sensed; wherein the first sensing position is a sensing position affected by a time synchronization error; performing a perception measurement on the target to be perceived based on the second propagation parameter of the perception signal to obtain a second perception position of the target to be perceived; Calculating the relative distance between the first sensing position and the second sensing position and the corresponding signal propagation delay; A time deviation value is determined based on the signal propagation delay calculated when the perception signal is received at least once; wherein the time deviation value is used to eliminate a time synchronization error in the collaborative perception process.

2. The time synchronization error elimination method according to claim 1, wherein: The first propagation parameter includes but is not limited to a propagation delay measurement value and an arrival angle. The performing of a perception measurement on a target to be perceived based on the first propagation parameter of the perception signal to obtain a first perception position of the target to be perceived specifically includes: determining a propagation distance of the sensing signal based on the propagation delay measurement value and a preset signal propagation rate; Obtaining a first sensing distance from the target to be sensed by using the law of cosines according to the propagation distance, the angle of arrival, and a preset distance from the transmitting end; The first sensing position is determined according to the first sensing distance, the arrival angle, and preset receiving end position information.

3. The time synchronization error elimination method according to claim 1, wherein: The second propagation parameter includes but is not limited to an arrival angle and a launch angle; the launch angle is obtained from the indication information; performing a perception measurement on the target to be perceived based on the second propagation parameter of the perception signal to obtain a second perception position of the target to be perceived specifically includes: Obtaining a second sensing distance from the target to be sensed by the law of sine according to the arrival angle, the emission angle, and a preset distance from the transmitting end; A second sensing position of the target to be sensed is determined according to the second sensing distance, the arrival angle, and preset receiving end position information.

4. The time synchronization error elimination method according to claim 1, wherein: The determining of the time deviation value based on the signal propagation delay calculated when the sensing signal is received at least once specifically includes: Based on the signal propagation delay calculated when the sensing signal is received any time, the signal propagation delay is used as the time deviation value; Alternatively, based on a plurality of signal propagation delays calculated when the sensing signal is received a plurality of times, an average value of the plurality of signal propagation delays is calculated, and the average value is used as the time deviation value.

5. The time synchronization error elimination method according to claim 1, wherein: The receiving, based on the indication information sent by the sending end, the perception signal sent by the sending end specifically includes: Acquire the time domain position of the perception signal from the indication information; The perception signal is received at the time domain location.

6. The time synchronization error elimination method according to claim 3, wherein: The method specifically obtains the emission angle through the following steps: A beam direction angle corresponding to the time domain position of the perception signal is obtained from the indication information, and the beam direction angle is used as the transmission angle of the perception signal.

7. The time synchronization error elimination method according to claim 1, wherein: The method further comprises: Feedback the time deviation value to the sending end.

8. A method for eliminating time synchronization errors, characterized in that: The method is executed by a sending end and includes: Configuring indication information of sensing signals; Sending the indication information to at least one receiving end, and sending the perception signal based on the indication information; wherein the indication information is used to instruct at least one receiving end to receive the perception signal; receiving a time deviation value fed back by the receiving end; wherein the time deviation value is obtained by the receiving end performing a perception measurement on a target to be perceived based on the received perception signal and calculating based on a result of the perception measurement; When serving as a receiving end of the sensing signal in the collaborative sensing process, the time deviation value is used to eliminate the time synchronization error in the collaborative sensing process.

9. The time synchronization error elimination method according to claim 8, wherein: The indication information includes at least one time domain position, a sending period, a sending duration, and a beam direction angle corresponding to each time domain position of the perception signal.

10. The time synchronization error elimination method according to claim 9, wherein: The sensing signal forms at least one transmission beam at each time domain position through a preset beamforming method; wherein the beamforming method includes but is not limited to analog beamforming, digital beamforming and digital-analog hybrid beamforming.

11. A time synchronization error elimination device, characterized in that: include: a perception signal receiving module, configured to receive a perception signal sent by the sending end based on the indication information sent by the sending end; a first sensing measurement module, configured to, upon receiving the sensing signal at least once, perform sensing measurement on a target to be sensed based on a first propagation parameter of the sensing signal, and obtain a first sensing position of the target to be sensed; wherein the first sensing position is a sensing position affected by a time synchronization error; a second perception measurement module, configured to perform perception measurement on the target to be perceived based on a second propagation parameter of the perception signal, to obtain a second perception position of the target to be perceived; a signal propagation delay calculation module, configured to calculate the relative distance between the first sensing position and the second sensing position and the corresponding signal propagation delay; A time deviation value calculation module is used to determine a time deviation value based on the signal propagation delay calculated when the perception signal is received at least once; wherein the time deviation value is used to eliminate the time synchronization error in the collaborative perception process.

12. A time synchronization error elimination device, characterized in that: include: An indication information configuration module, used to configure indication information of the sensing signal; a perception signal sending module, configured to send the indication information to at least one receiving end, and send the perception signal based on the indication information; wherein the indication information is used to instruct at least one receiving end to receive the perception signal; a time deviation value acquisition module, configured to receive the time deviation value fed back by the receiving end; wherein the time deviation value is obtained by the receiving end performing a perception measurement on the target to be perceived based on the received perception signal and calculating based on the result of the perception measurement; The time synchronization error elimination module is used to eliminate the time synchronization error in the collaborative sensing process by using the time deviation value when serving as a receiving end of the sensing signal in the collaborative sensing process.

13. A terminal device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for eliminating time synchronization errors as described in any one of claims 1 to 7 or the method for eliminating time synchronization errors as described in any one of claims 8 to 10 is implemented.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the time synchronization error elimination method according to any one of claims 1 to 7 or the time synchronization error elimination method according to any one of claims 8 to 10.

15. A computer program product, characterized in that The method comprises a computer program / instruction, which, when executed by a processor, implements the steps of the time synchronization error elimination method according to any one of claims 1 to 7 or the time synchronization error elimination method according to any one of claims 8 to 10.

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