Sensing signal transmission method and device, sensing node, storage medium and computer program product

Abstract

The invention discloses a sensing signal transmission method and device, a sensing node, a storage medium and a computer program product, and the method comprises the steps: a first sensing node transmits a first sensing signal; receiving a reflection signal of a second sensing signal sent by at least one second sensing node; determining a first transceiving time difference according to the first moment and the second moment; wherein the first moment represents the moment when the first sensing node sends the first sensing signal, and the second moment represents the moment when the first sensing node receives the reflected signal of the second sensing signal.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a perception signal transmission method, device, perception node, storage medium and computer program product. Background Art

[0002] An integrated communication and perception system combines communication and perception capabilities through integrated design (spectrum resource sharing, integrated air interface, integrated hardware architecture, etc.), multi-point collaboration, and intelligent information interaction. The system operates in two modes: independent perception mode and collaborative perception mode. However, the collaborative perception mode suffers from poor perception performance. Summary of the Invention

[0003] To solve related technical problems, the embodiments of the present application provide a perception signal transmission method, device, perception node, storage medium and computer program product.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] An embodiment of the present application provides a method for transmitting a sensing signal, which is applied to a first sensing node. The method includes:

[0006] sending a first perception signal;

[0007] receiving a reflected signal of a second sensing signal sent by at least one second sensing node;

[0008] A first transmission-reception time difference is determined according to a first moment and a second moment, wherein the first moment represents a moment when the first sensing node sends the first sensing signal, and the second moment represents a moment when the first sensing node receives a reflected signal of the second sensing signal.

[0009] In the above solution, the first sending and receiving time difference represents the difference between the second moment and the first moment or the absolute value of the difference.

[0010] In the above solution, the first moment is the downlink sensing subframe timing at which the first sensing node sends the first sensing signal; and / or

[0011] The second moment is the actual reception time when the first sensing node receives the reflected signal of the second sensing signal in the uplink sensing subframe.

[0012] In the above solution, the method further includes:

[0013] Receive first information sent by the second sensing node, where the first information includes one or more of the following:

[0014] The third and fourth moments;

[0015] Second, the time difference between sending and receiving;

[0016] The first relationship;

[0017] The third moment represents the moment when the second perception node sends the second perception signal; the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal; the second transmission and reception time difference is determined based on the third moment and the fourth moment; the first relationship at least includes the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

[0018] In the above solution, the second sending and receiving time difference represents the difference between the fourth moment and the third moment or the absolute value of the difference.

[0019] In the above solution, the method further includes:

[0020] The location information of the sensing target is determined according to the first sending and receiving time difference, the first information, the location information of the first sensing node and the location information of the second sensing node.

[0021] In the above solution, the method further includes:

[0022] Sending second information to the server, where the second information includes at least one of the following:

[0023] A first moment and a corresponding second moment;

[0024] First sending and receiving time difference;

[0025] The second relationship includes at least the correspondence between the first moment and / or the first moment and / or the first transmission and reception time difference, and the second perception node and / or the second perception signal.

[0026] In the above solution, the first perception signal carries the identifier of the first perception node and / or the identifier of the first perception signal; and / or

[0027] The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

[0028] The embodiment of the present application further provides a method for transmitting a sensing signal, which is applied to a second sensing node. The method includes:

[0029] receiving a reflection signal of a first sensing signal sent by a first sensing node;

[0030] sending a second perception signal;

[0031] A second transmission and reception time difference is determined based on a third moment and a fourth moment; wherein the third moment represents a moment when the second sensing node sends a second sensing signal; and the fourth moment represents a moment when the second sensing node receives a reflected signal of the first sensing signal.

[0032] In the above solution, the second sending and receiving time difference represents the difference between the fourth moment and the third moment or the absolute value of the difference.

[0033] In the above solution, the third moment is the downlink perception subframe timing at which the second perception node sends the second perception signal; and / or

[0034] The fourth moment is the actual reception time when the second sensing node receives the reflected signal of the first sensing signal in the uplink sensing subframe.

[0035] In the above solution, the method further includes:

[0036] Sending first information to the first sensing node and / or server, where the first information includes at least one of the following:

[0037] the third moment and the fourth moment;

[0038] the second sending and receiving time difference;

[0039] The first relationship includes at least the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

[0040] In the above solution, the first perception signal carries the identifier of the first perception node and / or the identifier of the first perception signal; and / or

[0041] The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

[0042] The present application also provides a sensing signal transmission device, including:

[0043] A first sending unit, configured to send a first perception signal;

[0044] a first receiving unit, configured to receive a reflected signal of a second sensing signal sent by at least one second sensing node;

[0045] The first determination unit is used to determine a first transmission and reception time difference based on a first moment and a second moment; wherein the first moment represents a moment when the first perception node sends the first perception signal, and the second moment represents a moment when the first perception node receives a reflected signal of the second perception signal.

[0046] The present application also provides a sensing signal transmission device, including:

[0047] a second receiving unit, configured to receive a reflected signal of the first sensing signal sent by the first sensing node;

[0048] A second sending unit, configured to send a second perception signal;

[0049] The second determining unit is used to determine a second transmission and reception time difference based on a third moment and a fourth moment; wherein the third moment represents the moment when the second perception node sends the second perception signal; and the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal.

[0050] The embodiment of the present application further provides a first sensing node, comprising: a first processor and a first communication interface; wherein,

[0051] The first communication interface is configured to send a first sensing signal and receive a reflection signal of a second sensing signal sent by at least one second sensing node;

[0052] The first processor is used to determine a first transmission and reception time difference based on a first moment and a second moment; wherein the first moment represents a moment when the first perception node sends the first perception signal, and the second moment represents a moment when the first perception node receives a reflected signal of the second perception signal.

[0053] The embodiment of the present application further provides a second sensing node, comprising: a second processor and a second communication interface; wherein,

[0054] The second communication interface is configured to receive a reflection signal of the first sensing signal sent by the first sensing node and send a second sensing signal;

[0055] The second processor is used to determine a second transmission and reception time difference based on a third moment and a fourth moment; wherein the third moment represents the moment when the second perception node sends the second perception signal; and the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal.

[0056] The embodiment of the present application further provides a sensing node, comprising a processor and a memory for storing a computer program that can be run on the processor.

[0057] In which, when the processor is used to run the computer program, it executes the steps of any method on the first perception node side or the steps of any method on the second perception node side.

[0058] An embodiment of the present application also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of any method on the first perception node side mentioned above, or implements the steps of any method on the second perception node side mentioned above.

[0059] An embodiment of the present application further provides a computer program product, comprising a computer program, which implements the steps of any of the above methods when executed by a processor.

[0060] In the sensing signal transmission method, apparatus, sensing node, storage medium, and computer program product provided in the embodiments of the present application, a first sensing node transmits a first sensing signal; a second sensing node receives a reflection signal of the first sensing signal transmitted by the first sensing node and transmits a second sensing signal; the first sensing node receives a reflection signal of the second sensing signal transmitted by at least one second sensing node, and determines a first transceiver time difference based on a first moment and a second moment, wherein the first moment represents the moment when the first sensing node transmits the first sensing signal, and the second moment represents the moment when the first sensing node receives the reflection signal of the second sensing signal; the second sensing node determines a second transceiver time difference based on a third moment and a fourth moment, wherein the third moment represents the moment when the second sensing node transmits the second sensing signal, and the fourth moment represents the moment when the second sensing node receives the reflection signal of the first sensing signal. It can be seen that in the embodiments of the present application, in a collaborative sensing scenario, the first sensing node and the second sensing node can determine the transceiver time difference by mutually transmitting and receiving sensing signals, and thus can perform time compensation based on the transceiver time difference to eliminate or reduce the synchronization error between the first sensing node and the second sensing node, thereby reducing the impact of the synchronization error between the sensing nodes on the sensing performance and improving the sensing accuracy and sensing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a schematic diagram of the architecture of the independent perception mode of related technologies;

[0062] Figure 2 This is a schematic diagram of the architecture of the collaborative perception model of related technologies;

[0063] Figure 3 This is an example diagram of Multi-RTT measurement quantity in related technologies;

[0064] Figure 4 This is a flow chart of a method for transmitting a sensing signal according to an embodiment of the present application;

[0065] Figure 5 This is an example diagram of sending and receiving sensing signals according to an embodiment of the present application;

[0066] Figure 6 This is an example diagram of sending and receiving sensing signals according to an embodiment of the present application;

[0067] Figure 7 This is a flow chart of a method for transmitting a sensing signal according to an embodiment of the present application;

[0068] Figure 8 This is a schematic diagram of the interaction flow of the perception signal transmission method according to an embodiment of the present application;

[0069] Figure 9 This is an example diagram of transmitting sensing signals between base stations according to an embodiment of the present application;

[0070] Figure 10 This is an example diagram of transmitting sensing signals between base stations according to an embodiment of the present application;

[0071] Figure 11 This is a schematic structural diagram of a sensing signal transmission device according to an embodiment of the present application;

[0072] Figure 12 This is a schematic structural diagram of a sensing signal transmission device according to an embodiment of the present application;

[0073] Figure 13 This is a schematic diagram of the structure of the first sensing node in an embodiment of the present application;

[0074] Figure 14 This is a schematic diagram of the second perception node structure of an embodiment of the present application. DETAILED DESCRIPTION

[0075] Integrated communication and perception technology enables communication systems to have perception capabilities, enabling the perception of non-networked targets. For example, perception algorithms can be used to obtain the location information (including distance, angle, etc.) between the detection target and the base station (BS). The detection target is also called the perception target.

[0076] Figure 1 shows an example of independent perceptual modes of the synaesthesia system, such as Figure 1 As shown in the figure, node A (base station) in independent sensing mode actively transmits sensing signals and receives reflected signals. The reflected signals are the signals obtained by the sensing signals being reflected by the detection target. The reflected signals determine environmental characteristic parameters based on the sensing signals, and the sensing information of the detection target is determined based on the environmental characteristic parameters to achieve sensing functions such as target detection, positioning, identification, and tracking. The advantage of independent sensing mode is that it can detect non-networked targets without the assistance of networked nodes. The main challenges are the low energy of the echo signal and the presence of strong self-interference.

[0077] Figure 2 An example of a collaborative perception mode of a synaesthesia integration system is shown, such as Figure 2As shown, the collaborative sensing mode refers to a working mode in which at least two nodes collaboratively sense the same target. The collaborative sensing mode is also called the collaborative sensing mode. Specifically, in the collaborative sensing mode, a sensing node (such as node A) sends a sensing signal, and one or more other collaborative sensing nodes (such as node B) receive the reflected signal of the sensing signal. Then, through information interaction and information fusion processing between nodes, the environmental characteristic parameters between the transmitting and receiving nodes are obtained, and the perception information of the detected target is determined based on the environmental characteristic parameters. Among them, information fusion processing includes "soft" fusion and "hard" fusion. The selection and pairing of collaborative nodes directly determine the distance, speed, positioning accuracy, etc. The advantage of the collaborative sensing mode is that there is no self-interference between transmission and reception, and collaborative reception processing gain can be obtained through multi-node collaboration. The main challenge lies in synchronization between nodes.

[0078] Multi-Round Trip Time (MRTT) technology uses the relative positions between a terminal and multiple base stations to calculate the terminal's absolute position. MRTT positioning measurements include both user equipment (UE) positioning measurements and base station positioning measurements.

[0079] The UE positioning measurement quantity includes the UE's transmit-receive time difference (UE Rx-Tx time difference), which is defined as the difference between the receive time of a downlink subframe and the transmit time of an uplink subframe at a certain transmission and receiving point (TRP). The receive time of a downlink subframe is the receive time of the first path through which the UE detects the downlink subframe, and the transmit time of an uplink subframe is the transmit time of the uplink subframe closest to the downlink subframe.

[0080] Base station positioning measurement metrics include the gNB's transmit-receive time difference (gNB Rx-Tx time difference). This difference is defined as the difference between the time a Transmission Relay Protocol (TRP) receives an uplink subframe containing a Sounding Reference Signal (SRS) resource from a UE and the time a downlink subframe is transmitted for that TRP. The uplink subframe reception time is the time the base station detects the first path, and the downlink subframe is the downlink subframe closest to the uplink subframe.

[0081] Figure 3 An example of Multi-RTT measurement is given. Figure 3 In the figure, D represents downlink subframe, S represents special subframe, and U represents uplink subframe. Figure 3As shown, UE Rx-Tx time difference: t 1,UE Rx -t 1,UE Tx =0-slot-2×Tp; slot represents the time slot, and Tp represents the transmission delay from the transmitting node to the receiving node. eNB Rx-Tx time difference: t 1,eNB Rx -t 1,eNB Tx =0+slot.

[0082] Because collaborative sensing technology requires high synchronization accuracy between base stations, and synchronization errors of tens of nanoseconds (ns) between base stations can result in low positioning and ranging accuracy, and poor sensing performance. For example, a synchronization error of 10ns between base stations can result in a ranging error of Δd = 3m.

[0083] Based on this, in various embodiments of the present application, a first sensing node sends a first sensing signal; a second sensing node receives a reflection signal of the first sensing signal sent by the first sensing node and sends a second sensing signal; the first sensing node receives a reflection signal of the second sensing signal sent by at least one second sensing node, and determines a first transceiver time difference based on a first moment and a second moment, wherein the first moment represents the moment when the first sensing node sends the first sensing signal, and the second moment represents the moment when the first sensing node receives the reflection signal of the second sensing signal; the second sensing node determines a second transceiver time difference based on a third moment and a fourth moment, wherein the third moment represents the moment when the second sensing node sends the second sensing signal, and the fourth moment represents the moment when the second sensing node receives the reflection signal of the first sensing signal. It can be seen that in the embodiments of the present application, in a collaborative sensing scenario, the first sensing node and the second sensing node can determine the transceiver time difference by mutually transmitting and receiving sensing signals, and thus can perform time compensation based on the transceiver time difference to eliminate or reduce the synchronization error between the first sensing node and the second sensing node, thereby reducing the impact of the synchronization error between the sensing nodes on the sensing performance and improving the sensing accuracy and sensing performance.

[0084] The present application will be described in further detail below with reference to the accompanying drawings and embodiments.

[0085] The embodiment of the present application provides a method for transmitting a sensing signal, which is applied to a first sensing node. The first sensing node includes a terminal and / or a network device, and the network device may be a base station. Figure 4 As shown, the method includes:

[0086] Step 401: Send a first perception signal.

[0087] Here, the first perception node may send a first perception signal (perceptual signal) on a first time-frequency resource, record the time when the first perception signal is sent, and obtain a first time, so that one or more second perception nodes receive a reflected signal (RS) of the first perception signal on the first time-frequency resource. The reflected signal of the first perception signal may be referred to as a returning echo signal of the first perception signal. The first time-frequency resource may be a specific time-frequency resource, such as a time domain resource and / or a frequency domain resource used to transmit the perception signal.

[0088] It should be noted that the first perception signal may carry an identifier of the first perception node and / or an identifier of the first perception signal, which is used by the second perception node to determine the perception node that sent the first perception signal, so that the second perception node can determine the second transmit-receive time difference. The identifier of the first perception node may be a physical cell identifier (PCI). The perception signal may be a reference signal; the identifier of the perception signal may be an identifier of the reference signal and / or an identifier of the time-frequency resource used to transmit the reference signal; the identifier of the perception signal may be represented by an SSID.

[0089] The second sensing node includes a network device and / or a terminal. In actual application, the first sensing node and the second sensing node can both be network devices, for example, the first sensing node is a first base station and the second sensing node is a second base station; there is a synchronization error of tens of nanoseconds between the first base station and the second base station.

[0090] In the case where both the first sensing node and the second sensing node are base stations, such as Figure 5 As shown, the first sensing node is the first base station BS0, and the second sensing node includes three second base stations, namely BS1, BS2 and BS3; the first base station BS0 can send a first sensing signal, and BS1, BS2 and BS3 all receive the reflected signal of the first sensing signal.

[0091] Step 402: Receive a reflection signal of a second sensing signal sent by at least one second sensing node.

[0092] Here, one or more second sensing nodes transmit a second sensing signal on a second time-frequency resource, and the first sensing node transmits a reflection of the second sensing signal transmitted by one or more second sensing nodes on the second time-frequency resource. The node determines the moment of receipt of each reflection of the second sensing signal, obtaining the second moment corresponding to each second sensing node, or obtaining the second moment corresponding to each reflection of the second sensing signal. The reflection of the second sensing signal may carry the identifier of the second sensing node and / or the identifier of the second sensing signal. The first sensing node may also record the identifier of the second sensing node and / or the identifier of the second sensing signal. The reflection of the second sensing signal may be understood as the echo signal of the second sensing signal, which is the signal obtained after the second sensing signal is reflected by the sensing target. The second time-frequency resource may be a specific time-frequency resource; the second time-frequency resource used by different second sensing nodes may be the same or different; if different second sensing nodes use the same second time-frequency resource, the different second sensing nodes may transmit the second sensing signal in different time-sharing periods to avoid preempting the time-frequency resource.

[0093] In the case where both the first sensing node and the second sensing node are base stations, such as Figure 6 As shown, the first sensing node is the first base station BS0, and the second sensing node includes three second base stations, namely BS1, BS2 and BS3; BS1 sends a second sensing signal, BS0 receives the reflected signal of the second sensing signal sent by BS1, and records the moment when BS0 receives the reflected signal of the second sensing signal sent by BS1, that is, records the second moment corresponding to BS1; BS2 sends a second sensing signal, BS0 receives the reflected signal of the second sensing signal sent by BS2, and records the moment when BS0 receives the reflected signal of the second sensing signal sent by BS2, that is, records the second moment corresponding to BS2; BS3 sends a second sensing signal, BS0 receives the reflected signal of the second sensing signal sent by BS3, and records the moment when BS0 receives the reflected signal of the second sensing signal sent by BS3, that is, records the second moment corresponding to BS3.

[0094] For example, the information recorded by BS0 may be:

[0095] BS0: {Tx: PCI BS1 or SSID1,t Rx10 ;Tx: PCI BS2 or SSID2, t Rx20 ;Tx: PCI BS3 or SSID3, t Rx30}.

[0096] Among them, Tx: PCI BS1 Or SSID1, representing the information carried by the second sensing signal sent by BS1; PCIBS1 The identifier of BS1, SSID1 represents the identifier of the second sensing signal sent by BS1, t Rx10 Indicates the second moment corresponding to BS1. Tx: PCI BS2 or SSID2, representing the information carried by the second sensing signal sent by BS2; PCI BS2 SSID2 represents the identifier of the second sensing signal sent by BS2, t Rx20 Indicates the second time corresponding to BS2. Tx: PCI BS3 Or SSID3, representing the information carried by the second sensing signal sent by BS3; PCI BS3 The identifier of BS3, SSID3 represents the identifier of the second sensing signal sent by BS3, t Rx30 Represents the second moment corresponding to BS3.

[0097] In order to facilitate the sensing node to determine the sending and receiving time difference, in one embodiment, the first sensing signal carries an identifier of the first sensing node and / or an identifier of the first sensing signal; and / or

[0098] The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

[0099] Step 403: Determine a first transmission / reception time difference based on a first moment and a second moment; wherein the first moment represents a moment when the first sensing node sends the first sensing signal, and the second moment represents a moment when the first sensing node receives a reflected signal of the second sensing signal.

[0100] Here, a first transmit-receive time difference can be determined based on a first moment and a second moment. That is, one first transmit-receive time difference corresponds to one first sensing node and one second sensing node, and the number of first transmit-receive time differences is the same as the number of second sensing nodes. The first transmit-receive time difference is equal to the difference between the first moment and the second moment, or the absolute value of the difference. The first transmit-receive time difference can be understood as the first transmit-receive time difference. The first moment can be described as the transmit moment or transmit time, and the second moment can be understood as the receive moment or receive time.

[0101] It should be noted that the first sensing node can establish a correspondence between the first transmitting and receiving times of the cooperative sensing node pairs according to the first transmitting and receiving time differences between the cooperative sensing node pairs. Figure 5 In the collaborative sensing scenario shown, the collaborative sensing node pairs include BS0-BS1, BS0-BS2, and BS0-BS3. The first sensing node can establish the following correspondence:

[0102] BS0-BS1: {PCI BS0or SSID0, PCI BS1 Or SSID1,SS Rx-Tx time difference 0,1};

[0103] BS0-BS2: {PCI BS0 or SSID0, PCI BS2 Or SSID2,SS Rx-Tx time difference 0,2};

[0104] BS0-BS3: {PCI BS0 or SSID0, PCI BS2 or SSID3,SS Rx-Tx time difference 0,3}.

[0105] Among them, SS Rx-Tx time difference 0,1 Characterizes the first transmit and receive time difference between BS0 and BS1; SSRx-Tx time difference 02 Characterizes the first transmit and receive time difference between BS0 and BS2; SS Rx-Tx timedifference 0,3 Indicates the first transmission and reception time difference between BS0 and BS3.

[0106] In order to obtain an accurate first time difference between sending and receiving, in one embodiment, the first time difference between sending and receiving represents the difference between the second moment and the first moment or the absolute value of the difference.

[0107] In order to obtain an accurate first transmission and reception time difference, in one embodiment, the first moment is a downlink sensing subframe timing at which the first sensing node sends the first sensing signal; and / or

[0108] The second moment is the actual reception time when the first sensing node receives the reflected signal of the second sensing signal in the uplink sensing subframe.

[0109] Here, the first transmission and reception time difference can be defined as the difference between the actual reception time when the first sensing node receives the reflected signal of the second sensing signal sent by the second sensing node in the uplink sensing subframe and the downlink sensing subframe timing when the first sensing node sends the first sensing signal.

[0110] The first moment is the downlink sensing subframe timing at which the first sensing node transmits the first sensing signal. The first moment can be described as the downlink sensing subframe timing. The downlink sensing subframe timing can be understood as the transmission time of the boundary of the header of the downlink sensing subframe. The downlink sensing subframe timing can be described as the timing of the downlink sensing subframe, the downlink subframe timing, or the timing of the downlink subframe.

[0111] The uplink perception subframe can be described as an uplink subframe, carrying a second perception signal; the downlink perception subframe can be described as a downlink subframe, carrying a first perception signal; the actual reception time of the reflected signal of the second perception signal in the uplink perception subframe is: the reception time of the first path of the reflected signal of the second perception signal of a second perception node detected by the first perception node; the downlink perception subframe timing is the sending time of the downlink perception subframe at which the first perception node sends the first perception signal to the second perception node.

[0112] In one embodiment, after sending the first perception signal, the method further includes:

[0113] Receive first information sent by the second sensing node, where the first information includes one or more of the following:

[0114] The third and fourth moments;

[0115] Second, the time difference between sending and receiving;

[0116] The first relationship;

[0117] The third moment represents the moment when the second perception node sends the second perception signal; the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal; the second transmission and reception time difference is determined based on the third moment and the fourth moment; the first relationship at least includes the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

[0118] Here, the second transmission and reception time difference is determined by the second sensing node, and a third moment and a fourth moment determine a second transmission and reception time difference.

[0119] The first relationship may include a correspondence between the third moment and / or the fourth moment and the second perception node and / or the second perception signal. For example, the first relationship may include a correspondence between the third moment and the fourth moment and the identifier of the second perception node and / or the information of the second perception signal. The information of the second perception signal includes the identifier of the second perception signal and / or information of the time-frequency resources for transmitting the second perception signal.

[0120] The first relationship may also include the second transmission and reception time difference, and the corresponding relationship between the second perception node and / or the second perception signal. For example, the first relationship may include the corresponding relationship between the second transmission and reception time difference and the identifier of the second perception node and / or the information of the second perception signal.

[0121] It should be noted that the second transmit-receive time difference can be understood as the second transmit-receive time difference, or the second transmit-receive time difference can be defined as the difference between the actual reception time in an uplink sensing subframe when any second sensing node receives the reflected signal of the first sensing signal sent by the first sensing node, and the actual transmission time when the second sensing node transmits the second sensing signal. Here, the uplink sensing subframe can be described as an uplink subframe carrying the first sensing signal; the downlink sensing subframe can be described as a downlink subframe carrying the second sensing signal; the actual reception time of the reflected signal of the first sensing signal in the uplink sensing subframe is the reception time of the first path of the reflected signal of the first sensing signal detected by the second sensing node; the actual transmission time of the second sensing signal is the downlink sensing subframe timing.

[0122] In order to obtain an accurate second time difference between sending and receiving, in one embodiment, the second time difference between sending and receiving represents the difference between the fourth moment and the third moment or the absolute value of the difference.

[0123] The third moment may be a downlink sensing subframe timing at which the second sensing node sends the second sensing signal; and / or

[0124] The fourth moment may be the actual reception time of the reflected signal of the first perception signal received by the second perception node in the uplink perception subframe.

[0125] Here, the second transmission / reception time difference can be defined as the difference between the actual reception time of the reflected signal of the first sensing signal transmitted by the first base station in the uplink sensing subframe by any second base station and the actual transmission time of the second sensing signal transmitted by the second base station. The actual reception time of the reflected signal of the first sensing signal in the uplink sensing subframe is the reception time of the first path of the reflected signal of the first sensing signal detected by the second base station; the actual transmission time of the second sensing signal transmitted by the second base station is the downlink sensing subframe timing.

[0126] In one embodiment, after receiving the first information sent by the second sensing node, the method further includes:

[0127] The location information of the sensing target is determined according to the first receiving and sending time difference, the first information, the location information of the first sensing node and the location information of the second sensing node.

[0128] Here, the first sensing node can determine the second transceiver time difference corresponding to each second sensing node based on the first information sent by each second sensing node; and determine the location information of the sensing target based on part or all of the first transceiver time difference, part or all of the second transceiver time difference, and the location information of the first sensing node and the location information of each second sensing node. The location information can be geographic location information. Specifically, the synchronization error between the first sensing node and the same second sensing node can be determined based on the first transceiver time difference and the second transceiver time difference between the first sensing node and the second sensing node, and the transmission time between the first sensing node and the second sensing node can be time compensated based on the determined synchronization error, so that the location information of the sensing target can be determined based on the compensated transmission time between the first sensing node and each second sensing node, the location information of the first sensing node, and the location information of each second sensing node.

[0129] In this embodiment, the first perception node and the second perception node can obtain the accurate position of the perception target by sending perception signals to each other and performing multi-node fusion calculations, and can eliminate the impact of the synchronization error between the first perception node and the second perception node on the perception performance in the collaborative perception mode, where the perception performance includes perception accuracy.

[0130] Considering that the location information of the sensing target can be determined by a server (e.g., a sensing server) to reduce the power consumption and computational complexity of the first sensing node, in one embodiment, the method further includes:

[0131] Sending second information to the server, where the second information includes at least one of the following:

[0132] A first moment and a corresponding second moment;

[0133] First sending and receiving time difference;

[0134] The second relationship includes at least the correspondence between the first moment and / or the first moment and / or the first transmission and reception time difference, and the second perception node and / or the second perception signal.

[0135] Here, when the location information of a perception target is determined by a server (e.g., a perception server), the first perception node transmits second information to the server, and each second perception node transmits first information to the server, so that the server can determine the location information of the perception target based on the first information, the second information, the location information of the first perception node, and the location information of the second perception node. In practical applications, the second information may include: the first transmission and reception time difference corresponding to each second perception node, or a second relationship; wherein the second relationship includes at least the first transmission and reception time difference and the correspondence between the first perception node and the first perception signal.

[0136] Correspondingly, the embodiment of the present application further provides a method for transmitting a sensing signal, which is applied to a second sensing node, and the second sensing node includes a network device and / or a terminal, such as Figure 7 As shown, the method includes:

[0137] Step 701: Receive a reflection signal of a first sensing signal sent by a first sensing node.

[0138] Here, the reflected signal of the first perception signal is a signal obtained after the first perception signal is reflected by the perception target.

[0139] Step 702: Send a second perception signal.

[0140] Here, the second sensing node may send a second sensing signal on the second time-frequency resource, so that the first sensing node receives a reflected signal of the second sensing signal on the second time-frequency resource.

[0141] In order to facilitate the sensing node to determine the sending and receiving time difference, in one embodiment, the first sensing signal carries an identifier of the first sensing node and / or an identifier of the first sensing signal; and / or

[0142] The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

[0143] Step 703: Determine a second transmission and reception time difference based on a third moment and a fourth moment; wherein the third moment represents the moment when the second sensing node sends the second sensing signal; and the fourth moment represents the moment when the second sensing node receives the reflected signal of the first sensing signal.

[0144] Here, the second perception node determines the third moment and the fourth moment, and determines the second transmission and reception time difference between the second perception node and the first perception node based on the third moment and the fourth moment.

[0145] At the second sensing node Figure 5 or Figure 6 In the case of BS1, the second sensing node can record {Tx: PCI BS0 or SSID0,t Rx01} and {Tx: PCI BS1 or SSID1,t Tx1}. Tx: PCI BS0 or SSID0, representing the information carried by the first sensing signal or the information carried by the reflected signal of the first sensing signal; PCI BS0 The identifier of BS0, SSID1 represents the identifier of the first sensing signal. Rx01 Indicates the moment when BS1 receives the reflected signal of the first sensing signal, that is, the fourth moment corresponding to BS1.Tx1 represents the moment when BS1 sends the second sensing signal, i.e., the third moment corresponding to BS1; t Rx01 and t Tx1 This is the time derived based on the timing of the serving cell of BS1.

[0146] At the second sensing node Figure 5 or Figure 6 In the case of BS2, the second sensing node can record {Tx: PCI BS0 or SSID0,t Rx02} and {Tx: PCI BS2 or SSID2, t Tx2}. t Rx02 Indicates the moment when BS2 receives the reflected signal of the first sensing signal, that is, the fourth moment corresponding to BS2. Tx2 represents the time when BS2 sends the second sensing signal, that is, the third time corresponding to BS2; t Rx02 and t Tx2 This is the time derived based on the timing of the serving cell of BS2.

[0147] At the second sensing node Figure 5 or Figure 6 In the case of BS3, the second sensing node can record {Tx: PCI BS0 or SSID0,t Rx03} and {Tx: PCI BS3 or SSID3, t Tx3}. t Rx03 Indicates the moment when BS3 receives the reflected signal of the first sensing signal, that is, the fourth moment corresponding to BS3. Tx3 represents the time when BS3 sends the second perception signal, that is, the third time corresponding to BS3; t Rx03 and t Tx3 This is the time derived based on the timing of the serving cell of BS3.

[0148] In order to obtain an accurate second time difference between sending and receiving, in one embodiment, the second time difference between sending and receiving represents the difference between the fourth moment and the third moment or the absolute value of the difference.

[0149] In order to obtain an accurate second transmission and reception time difference, in one embodiment, the third moment is a downlink sensing subframe timing at which the second sensing node sends the second sensing signal; and / or

[0150] The fourth moment is the actual reception time when the second sensing node receives the reflected signal of the first sensing signal in the uplink sensing subframe.

[0151] In order to facilitate the first sensing node or the sensing server to determine the location information of the sensing target based on the first information to improve the sensing accuracy, the second sensing node needs to report the first information to the first sensing node and / or the server. Based on this, in one embodiment, the method further includes:

[0152] Sending first information to the first sensing node and / or server, where the first information includes at least one of the following:

[0153] the third moment and the fourth moment;

[0154] the second sending and receiving time difference;

[0155] The first relationship includes at least the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

[0156] Here, when the server receives the first information sent by the second perception node, the location information of the perception target can be determined based on the first information, the location information of the first perception node and the location information of the second perception node.

[0157] The present application will be described in further detail below in conjunction with application examples.

[0158] like Figure 8 As shown, the first sensing node is the first base station, the second sensing node is the second base station, and the number of the second base stations can be one or more; Figure 8 The sensory signal transmission method shown includes:

[0159] Step 1: The first base station sends a first perception signal.

[0160] Here, the first base station records the first moment, where the first moment represents the moment when the first perception signal is sent. The first perception signal carries an identifier of the first base station and / or an identifier of the first perception signal.

[0161] The identifier of the first base station may be a PCI; the first perception signal may be a reference signal; the identifier of the first perception signal may be an identifier of the first reference signal, and / or an identifier of the time-frequency resources used to transmit the first reference signal; the identifier of the first perception signal may be represented by an SSID.

[0162] For example, when the first base station is BS0, the first base station may record {Tx: PCI BS0 or SSID0,t Tx0 SSID0 represents the identifier of the first sensing signal; Tx0 Representing the first moment, t Tx0 is a time derived based on the timing of the serving cell of the first base station BS0.

[0163] Step 2: The second base station receives a reflected signal of the first sensing signal.

[0164] Here, the second base station records the information carried by the first perception signal, and records the fourth moment, where the fourth moment represents the moment when the second base station receives the reflected signal of the first perception signal.

[0165] exist Figure 5 In the collaborative sensing scenario shown, the second base station includes BS1, BS2 and BS3, and BS1 can record {Tx: PCI BS0 or SSID, t Rx01}, t Rx01 Characterizes the fourth moment of BS1, t Rx01 Timing derivation based on BS1's serving cell; BS2 can record {Tx: PCI BS0 or SSID, t Rx02}, t Rx02 Characterize the fourth moment of BS2, t Rx02 Timing derivation based on the serving cell of BS2; BS3 can record {Tx: PCI BS0 or SSID, t Rx03}, t Rx03 Characterizes the fourth moment of BS3, t Rx03 Timing derivation of serving cells of BS3.

[0166] Step 3: The second base station sends a second perception signal.

[0167] Here, the second base station records the information carried by the second perception signal and a third moment, where the third moment represents the moment when the second perception signal was transmitted. The second perception signal carries an identifier of the second base station and / or an identifier of the second perception signal. The identifier of the second base station may be a PCI; the second perception signal may be a reference signal; the identifier of the second perception signal may be an identifier of the second reference signal and / or an identifier of the time-frequency resource used to transmit the second reference signal; the identifier of the second perception signal may be represented by an SSID.

[0168] exist Figure 5 In the collaborative sensing scenario shown, the second base station includes BS1, BS2 and BS3; BS1 can record {Tx: PCI BS1 or SSID1,t Tx1}, t Tx1 Characterize the third moment of BS1, t Tx1 Timing derivation based on BS1's serving cell; BS2 can record {Tx: PCI BS2 or SSID2, t Tx2}, t Tx2 Characterize the third moment of BS2, tTx2 Timing derivation based on BS2's serving cell; BS2 can record {Tx: PCI BS3 or SSID3, t Tx3}, t Tx3 Characterize the third moment of BS3, t Tx3 Timing derivation of serving cell based on BS3.

[0169] Step 4: The second base station determines the second transmission and reception time difference between the second base station and the first base station based on the third moment and the fourth moment; wherein the third moment represents the moment when the second perception signal is sent; and the fourth moment represents the moment when the second base station receives the reflected signal of the first perception signal.

[0170] It should be noted that the second transmission / reception time difference can be defined as the difference between the actual reception time of the reflected signal of the first sensing signal transmitted by the first base station at any second base station in an uplink sensing subframe and the actual transmission time of the second sensing signal transmitted by the second base station. Here, the uplink sensing subframe can be described as an uplink subframe carrying the first sensing signal; the downlink sensing subframe can be described as a downlink subframe carrying the second sensing signal. The actual reception time of the reflected signal of the first sensing signal in the uplink sensing subframe is the reception time of the first path of the reflected signal of the first sensing signal detected by the second base station; the actual transmission time of the second sensing signal transmitted by the second base station is the downlink sensing subframe timing.

[0171] Step 5: The first base station receives a reflected signal of the second perception signal sent by one or more second base stations.

[0172] Here, the first base station records the moment of receiving the reflected signal of the second perception signal, that is, the second moment, and records the information carried by the second perception signal. Figure 5 In the collaborative sensing scenario shown, the second base station includes BS1, BS2 and BS3, and the first base station can record: {Tx: PCI BS1 or SSID1,t Rx10 ;Tx: PCI BS2 or SSID1,t Rx20 ;Tx: PCI BS3 or SSID1,t Rx30}.

[0173] Among them, t Rx10 represents the moment when BS0 receives the reflected signal of the second sensing signal sent by BS1, that is, the second moment corresponding to BS1; t Rx20 represents the moment when BS0 receives the reflected signal of the second sensing signal sent by BS2, that is, the second moment corresponding to BS2; t Rx30Indicates the moment when BS0 receives the reflected signal of the second sensing signal sent by BS3, that is, the second moment corresponding to BS3. Rx10 , t Rx20 and t Rx30 Timing derivation based on the serving cell of BS0.

[0174] The first base station can establish a correspondence between the first transmission and reception times of the cooperative sensing node pairs according to the first transmission and reception time differences between the cooperative sensing node pairs. Figure 5 In the collaborative sensing scenario shown, the collaborative sensing node pairs include BS0-BS1, BS0-BS2, and BS0-BS3. The first base station BS0 can establish the following correspondence:

[0175] BS0-BS1: {PCI BS0 or SSID0, PCI BS1 Or SSID1,SS Rx-Tx time difference 0,1};

[0176] BS0-BS2: {PCI BS0 or SSID0, PCI BS2 Or SSID2,SS Rx-Tx time difference 0,2};

[0177] BS0-BS3: {PCI BS0 or SSID0, PCI BS2 Or SSID2,SS Rx-Tx time difference 0,3}.

[0178] Step 6: The first base station determines a first transmission and reception time difference based on a first moment and a second moment; the first moment represents the moment when the first base station sends the first perception signal, and the second moment represents the moment when the first base station receives a reflected signal of the second perception signal.

[0179] Here, the first base station determines a first sending and receiving time difference according to a first time and a second time.

[0180] Figure 9 An example of BS0 and BS1 transmitting and receiving sensing signals is shown. Figure 9 Medium S D Characterizes the downlink sensing subframe, S U Represents the uplink sensing subframe. Figure 9 The first time difference between sending and receiving is equal to t BS0 Rx With t BS0 Tx The difference between the first sending and receiving time = t BS0 Rx -t BS0 Tx .

[0181] Figure 10 An example of BS0 and BS1 transmitting and receiving sensing signals is shown; Figure 10 The first moment is t 1,BS0 Tx , the second moment is t 2,BS0 Rx , the first time difference between sending and receiving is equal to the difference between the second moment and the first moment, that is, the first time difference between sending and receiving = t 2,BS0 Rx -t 1,BS0 Tx ; The third moment of BS1 is t 3,BS1 Tx , the fourth moment is t 4,BS1 Rx , the second time difference between sending and receiving is equal to the difference between the third moment and the fourth moment, that is, the second time difference between sending and receiving = t 3,BS1 Tx -t 4,BS1 Rx .

[0182] It should be noted that the first transmission / reception time difference can be defined as the difference between the actual reception time in an uplink sensing subframe when the first base station receives the reflected signal of the second sensing signal sent by the second base station and the downlink sensing subframe timing at which the first base station transmits the first sensing signal. Here, the uplink sensing subframe can be described as an uplink subframe carrying the second sensing signal; the downlink sensing subframe can be described as a downlink subframe carrying the first sensing signal; the actual reception time of the reflected signal of the second sensing signal in the uplink sensing subframe is: the reception time of the first path of the reflected signal of the second sensing signal detected by the first base station; the downlink sensing subframe timing is the transmission time of the downlink sensing subframe in which the first base station transmits the first sensing signal to the second base station; the downlink sensing subframe timing can be understood as the transmission time of the boundary of the downlink sensing subframe header, that is, the transmission time of the downlink sensing subframe is the downlink sensing subframe timing.

[0183] Step 7: The second base station sends the first information to the first base station, and the first base station receives the first information sent by the second base station.

[0184] The first information includes one or more of the following:

[0185] The third and fourth moments;

[0186] Second, the time difference between sending and receiving;

[0187] The first relationship;

[0188] The third moment represents the moment when the second perception signal is sent; the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal; the second transmission and reception time difference is determined based on the third moment and the fourth moment; the first relationship at least includes the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

[0189] Step 8: The first base station determines the location information of the sensed target based on the first receiving and sending time difference, the first information, the location information of the first base station, and the location information of each second base station.

[0190] Here, the first base station can determine the location information of the perception target based on part or all of the first transmission and reception time difference, part or all of the received first information, the location information of the first base station and the location information of each second base station.

[0191] In order to implement the method on the first perception node side of the embodiment of the present application, the embodiment of the present application also provides a perception signal transmission device, which is set on the first perception node, such as Figure 11 As shown, the device includes:

[0192] A first sending unit 1101 is configured to send a first perception signal;

[0193] The first receiving unit 1102 is configured to receive a reflected signal of a second sensing signal sent by at least one second sensing node;

[0194] The first determining unit 1103 is configured to determine a first transmission / reception time difference based on a first moment and a second moment, wherein the first moment represents a moment when the first sensing node sends the first sensing signal, and the second moment represents a moment when the first sensing node receives a reflected signal of the second sensing signal.

[0195] In one embodiment, the first sending and receiving time difference represents the difference between the second moment and the first moment or the absolute value of the difference.

[0196] In one embodiment, the first moment is a downlink sensing subframe timing at which the first sensing node sends the first sensing signal; and / or

[0197] The second moment is the actual reception time when the first sensing node receives the reflected signal of the second sensing signal in the uplink sensing subframe.

[0198] In one embodiment, the apparatus further comprises:

[0199] The third receiving unit is configured to receive first information sent by the second sensing node, where the first information includes one or more of the following:

[0200] The third and fourth moments;

[0201] Second, the time difference between sending and receiving;

[0202] The first relationship;

[0203] The third moment represents the moment when the second perception node sends the second perception signal; the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal; the second transmission and reception time difference is determined based on the third moment and the fourth moment; the first relationship at least includes the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

[0204] In one embodiment, the second transmission / reception time difference represents a difference between the fourth moment and the third moment or an absolute value of the difference.

[0205] In one embodiment, the apparatus further comprises:

[0206] The third determining unit is used to determine the location information of the sensing target according to the first sending and receiving time difference, the first information, the location information of the first sensing node and the location information of the second sensing node.

[0207] In one embodiment, the apparatus further comprises:

[0208] The third sending unit is configured to send second information to the server, where the second information includes at least one of the following:

[0209] A first moment and a corresponding second moment;

[0210] First sending and receiving time difference;

[0211] The second relationship includes at least the correspondence between the first moment and / or the first moment and / or the first transmission and reception time difference, and the second perception node and / or the second perception signal.

[0212] In one embodiment, the first perception signal carries an identifier of the first perception node and / or an identifier of the first perception signal; and / or

[0213] The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

[0214] In actual application, the first sending unit 1101, the first receiving unit 1102, the third receiving unit and the third sending unit can be implemented by the processor in the perception signal transmission device combined with the communication interface, and the first determination unit 1103 and the third determination unit can be implemented by the processor in the perception signal transmission device.

[0215] In order to implement the method on the second sensing node side of the embodiment of the present application, the embodiment of the present application also provides a sensing signal transmission device, which is set on the second sensing node, such as Figure 12 As shown, the device includes:

[0216] The second receiving unit 1201 is configured to receive a reflected signal of the first sensing signal sent by the first sensing node;

[0217] The second sending unit 1202 is configured to send a second perception signal;

[0218] The second determining unit 1203 is configured to determine a second transmission / reception time difference based on a third moment and a fourth moment, wherein the third moment represents a moment when the second sensing node sends a second sensing signal; and the fourth moment represents a moment when the second sensing node receives a reflection signal of the first sensing signal.

[0219] In one embodiment, the second transmission / reception time difference represents the difference between the fourth moment and the third moment or the absolute value of the difference.

[0220] In one embodiment, the third moment is a downlink sensing subframe timing at which the second sensing node sends the second sensing signal; and / or

[0221] The fourth moment is the actual reception time when the second sensing node receives the reflected signal of the first sensing signal in the uplink sensing subframe.

[0222] In one embodiment, the apparatus further comprises:

[0223] A fourth sending unit is configured to send first information to the first sensing node and / or the server, where the first information includes at least one of the following:

[0224] the third moment and the fourth moment;

[0225] the second sending and receiving time difference;

[0226] The first relationship includes at least the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

[0227] In one embodiment, the first perception signal carries an identifier of the first perception node and / or an identifier of the first perception signal; and / or

[0228] The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

[0229] In actual application, the second receiving unit 1201, the second sending unit 1202 and the fourth sending unit can be implemented by a processor in the perception signal transmission device in combination with a communication interface, and the second determination unit 1203 can be implemented by a processor in the perception signal transmission device.

[0230] It should be noted that the aforementioned embodiments provide a sensory signal transmission device, using the aforementioned division of program modules as an example only. In actual applications, the aforementioned processing can be assigned to different program modules as needed, i.e., the internal structure of the device can be divided into different program modules to complete all or part of the aforementioned processing. Furthermore, the sensory signal transmission device and the sensory signal transmission method embodiments provided in the aforementioned embodiments share the same concept. Their specific implementation is detailed in the method embodiments and will not be further elaborated here.

[0231] Based on the hardware implementation of the above program module, and in order to implement the method of the first perception node side of the embodiment of the present application, the embodiment of the present application also provides a first perception node. In actual application, the first perception node is a base station or a network device. The first perception node is as follows: Figure 13 As shown, the first sensing node 1300 includes:

[0232] The first communication interface 1301 is capable of exchanging information with other network nodes;

[0233] The first processor 1302 is connected to the first communication interface 1301 to implement information exchange with other network nodes and is configured to execute the methods provided by one or more technical solutions on the first sensing node side when running a computer program. The computer program is stored in the first memory 1303.

[0234] Specifically, the first communication interface 1301 is configured to send a first perception signal and receive a reflection signal of a second perception signal sent by at least one second perception node;

[0235] The first processor 1302 is used to determine a first transmission and reception time difference based on a first moment and a second moment; wherein the first moment represents the moment when the first perception node sends the first perception signal, and the second moment represents the moment when the first perception node receives the reflected signal of the second perception signal.

[0236] In one embodiment, the first sending and receiving time difference represents the difference between the second moment and the first moment or the absolute value of the difference.

[0237] In one embodiment, the first moment is a downlink sensing subframe timing at which the first sensing node sends the first sensing signal; and / or

[0238] The second moment is the actual reception time when the first sensing node receives the reflected signal of the second sensing signal in the uplink sensing subframe.

[0239] In one embodiment, the first communication interface 1301 is further configured to receive first information sent by the second sensing node, where the first information includes one or more of the following:

[0240] The third and fourth moments;

[0241] Second, the time difference between sending and receiving;

[0242] The first relationship;

[0243] The third moment represents the moment when the second perception node sends the second perception signal; the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal; the second transmission and reception time difference is determined based on the third moment and the fourth moment; the first relationship at least includes the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

[0244] In one embodiment, the second transmission / reception time difference represents a difference between the fourth moment and the third moment or an absolute value of the difference.

[0245] In one embodiment, the first processor 1302 is further configured to determine the location information of the sensing target based on the first receiving and sending time difference, the first information, the location information of the first sensing node, and the location information of the second sensing node.

[0246] In one embodiment, the first communication interface 1301 is further configured to send second information to the server, where the second information includes at least one of the following:

[0247] A first moment and a corresponding second moment;

[0248] First sending and receiving time difference;

[0249] The second relationship includes at least the correspondence between the first moment and / or the first moment and / or the first transmission and reception time difference, and the second perception node and / or the second perception signal.

[0250] In one embodiment, the first perception signal carries an identifier of the first perception node and / or an identifier of the first perception signal; and / or

[0251] The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

[0252] It should be noted that the specific processing process of the first processor 1302 and the first communication interface 1301 can be understood by referring to the above method.

[0253] Of course, in actual application, the various components in the first sensing node 1300 are coupled together through the bus system 1304. It can be understood that the bus system 1304 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 1304 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 13 Various buses are labeled as bus system 1304.

[0254] The first memory 1303 in the embodiment of the present application is used to store various types of data to support the operation of the first sensing node 1300. Examples of such data include: any computer program for operating on the first sensing node 1300.

[0255] The methods disclosed in the above embodiments of the present application can be applied to the first processor 1302 or implemented by the first processor 1302. The first processor 1302 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by the hardware integrated logic circuit in the first processor 1302 or by instructions in the form of software. The above first processor 1302 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The first processor 1302 can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium located in the first memory 1303. The first processor 1302 reads the information in the first memory 1303 and completes the steps of the above method in combination with its hardware.

[0256] In an exemplary embodiment, the first sensing node 1300 can be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to execute the aforementioned method.

[0257] Based on the hardware implementation of the above program modules, and in order to implement the method of the second sensing node side of the embodiment of the present application, the embodiment of the present application also provides a second sensing node. In actual application, the second sensing node is a base station or a network device. Figure 14 As shown, the second sensing node 1400 includes:

[0258] The second communication interface 1401 is capable of exchanging information with other network nodes;

[0259] The second processor 1402 is connected to the second communication interface 1401 to implement information exchange with other network nodes and is configured to execute the methods provided by one or more technical solutions on the second sensing node side when running a computer program. The computer program is stored in the second memory 1403.

[0260] Specifically, the second communication interface 1401 is used to receive a reflection signal of a first sensing signal sent by a first sensing node, and to send a second sensing signal;

[0261] The second processor 1402 is used to determine a second transmission and reception time difference based on a third moment and a fourth moment; wherein the third moment represents the moment when the second perception node sends the second perception signal; and the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal.

[0262] In one embodiment, the second transmission / reception time difference represents the difference between the fourth moment and the third moment or the absolute value of the difference.

[0263] In one embodiment, the third moment is a downlink sensing subframe timing at which the second sensing node sends the second sensing signal; and / or

[0264] The fourth moment is the actual reception time when the second sensing node receives the reflected signal of the first sensing signal in the uplink sensing subframe.

[0265] In one embodiment, the second communication interface 1401 is further configured to send first information to the first sensing node and / or server, where the first information includes at least one of the following:

[0266] the third moment and the fourth moment;

[0267] the second sending and receiving time difference;

[0268] The first relationship includes at least the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

[0269] In one embodiment, the first perception signal carries an identifier of the first perception node and / or an identifier of the first perception signal; and / or

[0270] The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

[0271] It should be noted that the specific processing process of the second processor 1402 and the second communication interface 1401 can be understood by referring to the above method.

[0272] Of course, in actual application, the various components in the second sensing node 1400 are coupled together through the bus system 1404. It can be understood that the bus system 1404 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 1404 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 14 Various buses are labeled as bus system 1404.

[0273] The second memory 1403 in the embodiment of the present application is used to store various types of data to support the operation of the second sensing node 1400. Examples of such data include: any computer program used to operate on the second sensing node 1400.

[0274] The methods disclosed in the above embodiments of the present application can be applied to or implemented by the second processor 1402. The second processor 1402 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits or software instructions in the second processor 1402. The above second processor 1402 may be a general-purpose processor, a DSP, or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The second processor 1402 can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium located in the second memory 1403. The second processor 1402 reads the information in the second memory 1403 and, in conjunction with its hardware, completes the steps of the above method.

[0275] In an exemplary embodiment, the second sensing node 1400 can be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general-purpose processors, controllers, MCUs, Microprocessors, or other electronic components to perform the aforementioned method.

[0276] It can be understood that the memory (first memory 1303 and second memory 1403) of the embodiment of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a magnetic disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0277] In an exemplary embodiment, the present application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, which includes, for example, a first memory 1303 storing a computer program. The computer program can be executed by the first processor 1302 of the first sensing node 1300 to complete the steps of the first sensing node-side method. For another example, the present application also includes a second memory 1403 storing a computer program. The computer program can be executed by the second processor 1402 of the second sensing node 1000 to complete the steps of the second sensing node-side method. The computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.

[0278] Illustratively, embodiments of the present application further provide a computer program product, including a computer program. The computer program can be executed by the first processor 1302 of the first sensing node 1300 to complete the steps of the aforementioned first sensing node-side method. The computer program can be executed by the second processor 1402 of the second sensing node 1400 to complete the steps of the aforementioned second sensing node-side method.

[0279] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0280] In addition, the technical solutions described in the embodiments of the present application can be arbitrarily combined without conflict.

[0281] The above description is merely a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application.

Claims

1. A method for transmitting a perception signal, characterized in that: Applied to the first sensing node, the method includes: sending a first perception signal; receiving a reflection signal of a second sensing signal sent by at least one second sensing node; A first transmission-reception time difference is determined according to a first moment and a second moment, wherein the first moment represents a moment when the first sensing node sends the first sensing signal, and the second moment represents a moment when the first sensing node receives a reflected signal of the second sensing signal.

2. The method according to claim 1, characterized in that The first sending and receiving time difference represents the difference between the second moment and the first moment or the absolute value of the difference.

3. The method according to claim 2, wherein the first moment is a downlink sensing subframe timing at which the first sensing node sends the first sensing signal; and / or The second moment is the actual reception time when the first sensing node receives the reflected signal of the second sensing signal in the uplink sensing subframe.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Receive first information sent by the second sensing node, where the first information includes one or more of the following: The third and fourth moments; Second, the time difference between sending and receiving; The first relationship; The third moment represents the moment when the second perception node sends the second perception signal; the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal; the second transmission and reception time difference is determined based on the third moment and the fourth moment; the first relationship at least includes the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

5. The method according to claim 4, characterized in that The second sending and receiving time difference represents the difference between the fourth moment and the third moment or the absolute value of the difference.

6. The method according to claim 4, characterized in that The method further comprises: The location information of the sensing target is determined according to the first receiving and sending time difference, the first information, the location information of the first sensing node and the location information of the second sensing node.

7. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Sending second information to the server, where the second information includes at least one of the following: A first moment and a corresponding second moment; First sending and receiving time difference; The second relationship includes at least the correspondence between the first moment and / or the first moment and / or the first transmission and reception time difference, and the second perception node and / or the second perception signal.

8. The method according to claim 1, characterized in that The first perception signal carries an identifier of the first perception node and / or an identifier of the first perception signal; and / or The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

9. A method for transmitting a perception signal, characterized in that: Applied to the second sensing node, the method includes: receiving a reflection signal of a first sensing signal sent by a first sensing node; sending a second perception signal; A second transmission and reception time difference is determined based on a third moment and a fourth moment; wherein the third moment represents a moment when the second sensing node sends a second sensing signal; and the fourth moment represents a moment when the second sensing node receives a reflected signal of the first sensing signal.

10. The method according to claim 9, characterized in that The second sending and receiving time difference represents the difference between the fourth moment and the third moment or the absolute value of the difference.

11. The method according to claim 9, characterized in that The third moment is a downlink sensing subframe timing at which the second sensing node sends the second sensing signal; and / or The fourth moment is the actual reception time when the second sensing node receives the reflected signal of the first sensing signal in the uplink sensing subframe.

12. The method according to claim 9, characterized in that The method further comprises: Sending first information to the first sensing node and / or server, where the first information includes at least one of the following: the third moment and the fourth moment; the second sending and receiving time difference; The first relationship includes at least the correspondence between the third moment and / or the fourth moment and / or the second transmission and reception time difference, and the second perception node and / or the second perception signal.

13. The method according to any one of claims 9 to 12, characterized in that The first perception signal carries an identifier of the first perception node and / or an identifier of the first perception signal; and / or The second perception signal carries an identifier of the second perception node and / or an identifier of the second perception signal.

14. A sensing signal transmission device, characterized in that: include: A first sending unit, configured to send a first perception signal; a first receiving unit, configured to receive a reflected signal of a second sensing signal sent by at least one second sensing node; The first determination unit is used to determine a first transmission and reception time difference based on a first moment and a second moment; wherein the first moment represents a moment when the first perception node sends the first perception signal, and the second moment represents a moment when the first perception node receives a reflected signal of the second perception signal.

15. A sensing signal transmission device, characterized in that: include: a second receiving unit, configured to receive a reflected signal of the first sensing signal sent by the first sensing node; A second sending unit, configured to send a second perception signal; A second determining unit is configured to determine a second transmission and reception time difference based on a third moment and a fourth moment, wherein the third moment represents a moment when the second sensing node sends the second sensing signal; The fourth moment represents the moment when the second sensing node receives the reflected signal of the first sensing signal.

16. A first sensing node, characterized in that: include: A first processor and a first communication interface; wherein, The first communication interface is configured to send a first sensing signal and receive a reflection signal of a second sensing signal sent by at least one second sensing node; The first processor is used to determine a first transmission and reception time difference based on a first moment and a second moment; wherein the first moment represents a moment when the first perception node sends the first perception signal, and the second moment represents a moment when the first perception node receives a reflected signal of the second perception signal.

17. A second sensing node, characterized in that: include: A second processor and a second communication interface; wherein, The second communication interface is configured to receive a reflection signal of the first sensing signal sent by the first sensing node and send a second sensing signal; The second processor is used to determine a second transmission and reception time difference based on a third moment and a fourth moment; wherein the third moment represents the moment when the second perception node sends the second perception signal; and the fourth moment represents the moment when the second perception node receives the reflected signal of the first perception signal.

18. A sensing node, characterized in that: comprising a processor and a memory for storing a computer program capable of being executed on the processor, Wherein, when the processor is used to run the computer program, it executes the steps of the method described in any one of claims 1 to 8, or executes the steps of the method described in any one of claims 9 to 13.

19. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented, or the steps of the method according to any one of claims 9 to 13 are implemented.

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

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