Environment sensing method and device based on multi-point cooperation, base station and storage medium

Abstract

The invention provides an environment sensing method and device based on multi-point cooperation, a base station and a storage medium, and the method comprises the steps: constructing a node cluster composed of a plurality of nodes when a region sensing task is triggered, reasonably distributing the roles of a first node and a second node in the cluster, enabling the first node to be responsible for transmitting a sensing signal and receiving an echo signal, and enabling the second node to be responsible for transmitting a sensing signal; the second node is only responsible for receiving the sensing echo signals, and the base station synthesizes the sensing echo signals received by all the nodes in the node cluster to determine a sensing result. The environment sensing information can be obtained from multiple positions and angles of the target area in a multi-point cooperation and node division mode, more comprehensive and accurate sensing of the target area is realized, and the technical problem that complete sensing information of the detected area cannot be obtained in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication, in particular to a multi-point cooperation based environment sensing method and device, a base station and a storage medium. BACKGROUND

[0002] At present, with the development of information technology and the expansion of communication network functions, wireless communication systems need to have the sensing ability of the physical world in addition to the communication ability. Therefore, the integration of communication and sensing emerges as the times require. The integration of communication and sensing realizes the functions of communication and sensing at the same time by using the same hardware platform, sharing the same spectrum resources, and even using the same wireless signal waveform. In the existing integration of communication and sensing network, the sensing data containing the position, shape or motion state of the environmental objects are generally obtained through a single station sensing mode (a single node transmits a sensing signal and receives a return wave) or a double station sensing mode (one node transmits a sensing signal and another node receives a return wave).

[0003] However, the sensing data obtained through the single station sensing mode or the double station sensing mode is prone to have a detection blind area, resulting in the inability to obtain complete sensing information of the detected area. SUMMARY

[0004] The present application provides a multi-point cooperation based environment sensing method, device, base station and storage medium. Through the multi-station cooperative sensing detection mode, more comprehensive sensing information in the target area can be obtained compared with the existing single station sensing mode or double station sensing mode, thereby solving the technical problem that the comprehensive sensing information cannot be obtained in the prior art.

[0005] In a first aspect, the present application provides a multi-point cooperation based environment sensing method applied to a base station, wherein the base station is connected with a plurality of nodes for signal transmission, and the method comprises the following steps: In the case of triggering a regional sensing task, a node cluster composed of a plurality of nodes is determined in a target area to be sensed; A first node for transmitting a sensing signal and receiving a sensing return wave signal is determined in the node cluster, and the remaining nodes of the node cluster are determined as second nodes for receiving the sensing return wave signal; The first node is controlled to transmit the sensing signal, the sensing return wave signal uploaded by the first node and the second nodes is received, and a sensing result is determined based on the received sensing return wave signal.

[0006] In the first aspect, before the first node for transmitting a sensing signal and receiving a sensing return wave signal is determined in the node cluster after the regional sensing task is triggered, the method further comprises the following steps: The target number of times of environment sensing required by the regional sensing task is determined; Correspondingly, after determining the sensing result based on the received sensing echo signal, the method further comprises: re-performing the environment sensing, determining a new first node in the node cluster and controlling the new first node to transmit the sensing signal to determine a new sensing result, until the number of times of the environment sensing reaches the target number of times.

[0007] The node communicates through a time division duplex frame, the transmission of the sensing signal and the reception of the sensing echo signal are performed in a reserved period of a special time slot of the time division duplex frame, the special time slot is used to provide a transition time for the conversion of downlink to uplink and to realize time division isolation of the transmission of the sensing signal and the reception of the sensing echo signal.

[0008] The special time slot comprises a set of downlink symbols, a set of reserved symbols and a set of uplink symbols, the set of reserved symbols is used to provide a time window for the transmission of the sensing signal and the reception of the sensing echo signal.

[0009] The starting boundary of the first reserved symbol of the set of reserved symbols is aligned with the transmission time of the sensing signal, and the length of the reception window of the sensing echo signal is greater than or equal to the transmission length of the sensing signal.

[0010] The starting time of the transmission window of the sensing signal is separated from the starting time of the reception window of the sensing echo signal by a separation length, the separation length corresponding to the first node is greater than or equal to the sum of the transmission length of the sensing signal and the conversion length of downlink to uplink of the first node, and the separation length corresponding to the second node is greater than or equal to the propagation time of the direct distance between the second node and the first node.

[0011] After determining the sensing result based on the received sensing echo signal, the method further comprises: uploading the sensing result to an upper node, so that the upper node determines an omnidirectional sensing result based on the aggregated sensing results of multiple base stations after aggregating the sensing results of the multiple base stations.

[0012] In a second aspect, the application provides an environment sensing device based on multi-point cooperation, applied to a base station, the base station being hung with multiple nodes for signal transmission, the device comprising: a node cluster determination module, configured to determine a node cluster composed of multiple nodes in a target area to be sensed in the case of triggering an area sensing task; a node allocation module, configured to determine a first node for transmitting a sensing signal and receiving a sensing echo signal in the node cluster, and determine the remaining nodes of the node cluster as second nodes for receiving the sensing echo signal; The perception detection module is configured to control the first node to transmit the perception signal, receive the perception echo signal uploaded by the first node and the second node, and determine a perception result based on the received perception echo signal.

[0013] In a third aspect, the present application provides a base station, wherein the base station is connected with a plurality of nodes for signal transmission, and the base station comprises a processor and a memory; The memory is configured to store a computer program and transmit the computer program to the processor. The processor is configured to execute the method for environment perception based on multi-point cooperation according to the instructions in the computer program.

[0014] In a fourth aspect, the present application provides a storage medium storing computer executable instructions, which are configured to execute the method for environment perception based on multi-point cooperation when executed by a computer processor.

[0015] In summary, the present application provides a method, device, base station and storage medium for environment perception based on multi-point cooperation. When a trigger area perception task is triggered, a node cluster composed of a plurality of nodes is constructed, and the roles of the first node and the second node are reasonably allocated in the cluster, so that the first node is responsible for transmitting the perception signal and receiving the echo signal, and the second node is only responsible for receiving the perception echo signal. The base station determines the perception result by comprehensively considering the perception echo signals received by all nodes in the node cluster. Through multi-point cooperation and node division, the present application can obtain environment perception information from multiple positions and angles of the target area, realize more comprehensive and accurate perception of the target area, and solve the technical problem that the prior art cannot obtain complete perception information of the detected area. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A flowchart of a method for environment perception based on multi-point cooperation is provided for the embodiments of the present application.

[0017] Figure 2 A schematic diagram of transmitting a perception signal and receiving a perception echo signal is provided for the embodiments of the present application.

[0018] Figure 3 A flowchart of another method for environment perception based on multi-point cooperation is provided for the embodiments of the present application.

[0019] Figure 4 A deployment diagram of a perception function is provided for the embodiments of the present application.

[0020] Figure 5 A structure diagram of a TDD frame is provided for the embodiments of the present application.

[0021] Figure 6 A TDD frame format configuration schematic diagram provided for an embodiment of the present application.

[0022] Figure 7 A schematic diagram of sensing the time offset of an echo signal provided for an embodiment of the present application.

[0023] Figure 8 A structure schematic diagram of an environment sensing device based on coordinated multipoint provided for an embodiment of the present application.

[0024] Figure 9 A hardware framework diagram of a base station provided for an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following description and drawings are illustrative of specific embodiments of the application and are not intended to limit the generality of the application. Individual components and functions are optional and the order of operations can be varied, unless explicitly required. Parts and features of some embodiments can be included or substituted for parts and features of other embodiments. The scope of the embodiments of the present application includes the full scope of the claims and all available equivalents thereof. In this document, the terms "application" and "invention" can be used to refer to separate embodiments or all embodiments collectively, simply for convenience, and do not require that a disclosure made in this document be limited to a single application or invention, if more than one is, in fact, disclosed. In this document, relational terms such as first and second, and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. The embodiments are described in a progressive manner, each highlighting the differences from other embodiments, and the same or similar parts between embodiments are cross-referenced. For the structure, product, and the like disclosed in the embodiments, since they correspond to the parts disclosed in the embodiments, the description is relatively simple, and the relevant parts are described in the method part.

[0026] With the development of information technology and the expansion of communication network functions, new services such as ubiquitous intelligence, man-machine interaction, immersive XR, digital twin, and the like are emerging. In addition to communication capabilities, future wireless communication systems also need to have the ability to perceive the physical world, providing more rich services and applications through the perception of target objects, events or environment. Based on this, Integrated Sensing and Communication (ISAC) emerges as the times require. ISAC is also known as communication radar integration or sensing integration. The core idea is to use the same hardware platform, share the same spectrum resources, and even use the same wireless signal waveform to simultaneously realize communication (transmit information) and sensing (detect the environment).

[0027] In existing ISAC networks, sensing data containing information such as the position, shape or motion state of environmental objects is generally obtained through single-station sensing mode (a single node transmits sensing signals and receives echoes) or double-station sensing mode (one node transmits sensing signals and the other node receives echoes). However, the way of obtaining sensing data through single-station sensing mode or double-station sensing mode has limited sensing range of the sensing node, which is easy to have a detection blind area, resulting in the inability to obtain complete sensing information of the detected area.

[0028] To solve the above technical problems, the embodiment of the present application provides an environment sensing method based on multi-point cooperation. The environment sensing method based on multi-point cooperation provided by the embodiment of the present application is applied to a base station. The base station is hung with a plurality of nodes (TRP nodes) for signal transmission. The TRP node can be a distributed radio access device or a logical functional unit, which is used to expand network coverage, improve transmission reliability, and cooperatively process wireless information, etc. In the cooperative transmission of the plurality of TRP nodes, each TRP node represents an independent signal transceiving logic entity, which can be deployed in the same physical device or different geographical locations. The base station and the TRP node in the embodiment can be deployed in an ISAC network. Each TRP node has communication and sensing functions. As shown in Figure 1 Figure 1 A flowchart of an environment sensing method based on multi-point cooperation provided by the embodiment of the present application is shown. The method comprises the following steps: Step 101, in the case of triggering a region sensing task, determining a node cluster composed of a plurality of nodes in a target region to be sensed.

[0029] ​In this embodiment, the triggering of the area perception task can be based on various factors, such as receiving an instruction from an upper node to perform environment perception, receiving a user request, or according to a preset time period or event condition. Once the area perception task is triggered, the base station first needs to determine the range of the target area to be perceived. The range of the target area can be determined by geographic coordinates, cell division, and specific identifiers, etc. to ensure that the subsequent perception operation is performed within the correct range.

[0030] After determining the target, it is necessary to further determine a node cluster composed of multiple nodes from the numerous nodes hanging down in the target area. It should be noted that the selection of nodes in the node cluster is not random, and the distribution position of the nodes needs to be considered to ensure that the node cluster can uniformly and fully cover the target area. At the same time, the signal transmission capability of the nodes also needs to be considered to ensure that the selected nodes can effectively transmit and receive the perception signals. For example, a clustering algorithm, a grouping strategy based on geographic location, or a method according to the communication link quality of the nodes can be used to determine the node cluster, so that the determined node cluster can cooperatively complete the environment perception task.

[0031] Step 102, determining a first node in the node cluster for transmitting the perception signal and receiving the perception echo signal, and determining the remaining nodes in the node cluster as second nodes for receiving the perception echo signal.

[0032] After determining the node cluster in the target area, the nodes in the node cluster need to be assigned roles to determine the first node responsible for transmitting the perception signal and receiving the perception echo signal. When determining the first node, nodes with better performance can be preferentially selected, such as nodes with higher power transmission capability, better signal processing capability, relatively stable position and direction, etc. to ensure that the transmitted perception signal has sufficient strength and quality, and the perception echo signal can be accurately received and processed. In this embodiment, the number of first nodes is at least one. After determining the first node, the remaining nodes in the node cluster are determined as second nodes for receiving the perception echo signal only. In this embodiment, the cooperation mechanism between the nodes in the node cluster is established by assigning the first nodes and the second nodes. The first node acts as the initiator of active perception, and the perception echo signal is excited by the first node by transmitting the perception signal to stimulate the target object in the environment to generate the perception echo signal. The perception echo signal returns from different paths and directions and is received by the first node itself and the second nodes. Multiple nodes jointly participate in signal reception, which can collect more abundant environmental information to provide a more comprehensive data basis for subsequent determination of the perception result, and increase the accuracy and reliability of the perception result.

[0033] Step 103, controlling the first node to transmit the perception signal, receiving the perception echo signal uploaded by the first node and the second node, and determining the perception result based on the received perception echo signal.

[0034] After the first node and the second node are determined, the base station needs to control the first node to transmit the sensing signal in a predetermined sensing signal form (such as specific frequency, waveform, power, and the like), and the sensing signal generates a sensing echo signal after encountering a target object in the environment in the propagation process. The first node and the second node receive the received sensing echo signal. For example, as shown in Figure 2 Figure 2 A schematic diagram for transmitting a sensing signal and receiving a sensing echo signal is provided for an embodiment of the present application, Figure 2 In the above-mentioned embodiment, the TRP#0 is the first node, the TRP#1, the TRP#2, and the TRP#3 are the second nodes, the TRP#0 node transmits the sensing signal, the sensing signal encounters an object S in the environment to generate a sensing echo signal, and the TRP#0, the TRP#1, the TRP#2, and the TRP#3 nodes receive the sensing echo signal respectively. In an embodiment, in the process of receiving the sensing echo signal, each node can perform preliminary processing such as amplification and filtering on the sensing echo signal to remove noise interference and improve the signal quality, and then upload the processed sensing echo signal to the base station.

[0035] After the base station receives the sensing echo signal uploaded by the first node and the second node, the base station performs comprehensive analysis and processing on the sensing echo signal to determine the sensing result. For example, the base station can accurately locate a plurality of target objects in the environment by analyzing the time difference of arrival and the angle of arrival information of a plurality of sensing echo signals, thereby constructing an environmental map or a scene description in the target region, and simultaneously using a multi-point positioning algorithm and a target recognition algorithm and the like to analyze and fuse the sensing echo signal to determine the speed, shape, material, and the like of the object in the environment, and finally generate the sensing result of the target region environment.

[0036] In the above-mentioned embodiment, an environment sensing method based on multi-point cooperation is provided. In the embodiment of the present application, when a sensing task in a trigger region is triggered, a node cluster composed of a plurality of nodes is constructed, and the roles of the first node and the second node are reasonably distributed in the cluster, so that the first node is responsible for transmitting the sensing signal and receiving the echo signal, the second node is only responsible for receiving the sensing echo signal, and the base station determines the sensing result by comprehensively analyzing the sensing echo signal received by all nodes in the node cluster. In the embodiment of the present application, the environment sensing information can be obtained from a plurality of positions and angles of the target region by means of multi-point cooperation and node division, the sensing of the target region is more comprehensive and accurate, and the technical problem that the complete sensing information of the detected region cannot be obtained in the prior art is solved.

[0037] Another environment sensing method based on multi-point cooperation is also provided in the embodiment of the present application, as shown in Figure 3 Figure 3 ​​Another flowchart of the multi-point cooperation based environment sensing method provided by the embodiment of the present application is shown in FIG. 2, Figure 3 The multi-point cooperation based environment sensing method shown in FIG. 2 is a specific embodiment of the multi-point cooperation based environment sensing method described above. The multi-point cooperation based environment sensing method provided by the embodiment of the present application includes the following steps. Step 201: In the case of triggering a region sensing task, determine a node cluster composed of multiple nodes in a target region to be sensed.

[0038] Step 202: Determine the target number of times of environment sensing required by the region sensing task.

[0039] In this embodiment, for the sequential region sensing task of the target region, multiple sensing activities can be performed to obtain more comprehensive environment sensing data. Specifically, the region sensing task also includes the target number of times of environment sensing, which can be carried in the instruction for environment sensing or the user request, or be set by the user in advance.

[0040] Step 203: Determine a first node in the node cluster for transmitting a sensing signal and receiving a sensing echo signal, and determine the remaining nodes in the node cluster as second nodes for receiving the sensing echo signal.

[0041] Step 204: Control the first node to transmit the sensing signal, receive the sensing echo signal uploaded by the first node and the second nodes, and determine a sensing result based on the received sensing echo signal.

[0042] Step 205: Re-perform environment sensing, determine a new first node in the node cluster and control the new first node to transmit the sensing signal to determine a new sensing result, until the number of times of environment sensing reaches the target number of times.

[0043] Correspondingly, the base station will update the number of times of environment sensing after generating the sensing result each time. Then, it is determined whether the updated number of times reaches the target number of times. If the target number of times has not been reached, a new environment sensing activity needs to be performed. In the new environment sensing activity, a new first node needs to be selected in the node cluster, and the remaining nodes are used as new second nodes, wherein the new first node is preferentially selected from the nodes in the node cluster that have not been used as the first node in the current region sensing task. In addition, in each sensing activity, the timing of sensing and the wireless resources used need to be defined to ensure that the timings of the sensing activities are not overlapped.

[0044] After the new first node is determined, the new first node is controlled to transmit the sensing signal again to carry out a new round of environment sensing. After the new first node transmits the sensing signal, the base station determines a new sensing result according to the sensing echo signals received and uploaded by the new first node and the new second node. Then, the number of times is updated again and a new sensing activity is carried out until the number of times of the sensing activity reaches the target number of times. After the sensing activity reaches the target number of times, the base station can fuse the sensing results obtained in the multiple sensing activities to finally obtain a stable, comprehensive and accurate sensing result.

[0045] On the basis of the above embodiment, after the sensing result is determined based on the received sensing echo signal, the method further comprises: uploading the sensing result to an upper node, so that the upper node determines an all-around sensing result based on the aggregated sensing results of the multiple base stations.

[0046] In one embodiment, after the base station determines the sensing result, the base station further uploads the sensing result to an upper node. After the upper node aggregates the sensing results of the multiple base stations, the upper node can fuse the sensing results uploaded by each base station to determine an all-around sensing result. As shown in Figure 4 , the sensing function is deployed in different levels of network nodes. Figure 4 The above is a deployment diagram of a sensing function provided by an embodiment of the application. The TRP set constituting the node cluster can belong to a DU (Distributed Unit) of the same base station, a CU (Centralized Unit) of the same base station, or even different base stations of the same CN (Core Network). The sensing function (Sensing Function, SF) is respectively deployed in the network element nodes at different levels of the network. The sensing data at the low level is aggregated to the high level, and a complete and comprehensive environment sensing result is formed in the core network.

[0047] The above, by the upper node aggregating the sensing results of the multiple base stations and generating an all-around sensing result, the single-station blind area and errors can be eliminated, and a no-boundary and high-precision all-around sensing map can be generated by fusing multiple source data, and dynamic optimization of resources and cross-station cooperation can be realized.

[0048] On the basis of the above embodiment, the nodes communicate through a time division duplex frame, the transmission of the sensing signal and the reception of the sensing echo signal are performed in a reserved period of a special time slot of the time division duplex frame, and the special time slot is used to provide a transition time for the conversion of downlink to uplink and to realize time division isolation of the transmission of the sensing signal and the reception of the sensing echo signal.

[0049] Specifically, in the embodiment, the integrated sensing and communication network adopts a Time Division Duplexing (TDD) mode, and the nodes in the integrated sensing and communication network communicate through a Time Division Duplexing frame (TDD frame). The TDD frame is a basic time unit in a TDD communication system, and is used to alternately complete uplink (node to base station) and downlink (base station to node) data transmission on the same frequency band. A special time slot is a special time unit for realizing downlink-to-uplink conversion in the TDD frame structure, and exists in a specific position of each TDD frame. For example, as shown in Figure 5 Figure 5 A TDD frame structure diagram provided by the embodiment is shown in FIG. 2. The TDD frame includes a D (Downlink) downlink time slot, which is used for the base station to send data or signals to the terminal / node; an S (Special) special time slot, which is used for realizing uplink-downlink switching and transceiving isolation of the sensing signal and the sensing echo signal; and a U (Uplink) uplink time slot, which is used for the terminal / node to feedback data or the sensing echo signal to the base station. The node transmits the sensing signal and receives the sensing echo signal in the special time slot S, that is, a period reserved for not communicating and transmitting in the special time slot is a time range in which the sensing signal can be deployed. The special time slot can provide a transition time for downlink-to-uplink transceiving conversion, and realize time division isolation of the transmission of the sensing signal and the reception of the sensing echo signal, that is, the sensing signal is not received when the sensing signal is transmitted, and the sensing echo signal is not transmitted when the sensing echo signal is received. In this way, the probe-echo link is ensured to be clean, and a complete sensing action is limited in one special time slot, so as to not interfere with subsequent normal uplink and downlink service time slots.

[0050] On the basis of the above embodiment, the special time slot includes a downlink symbol set, a reserved symbol set, and an uplink symbol set. The reserved symbol set is used to provide a time window for the transmission of the sensing signal and the reception of the sensing echo signal.

[0051] In one embodiment, the special time slot S includes a downlink symbol set D S , a reserved symbol set G, and an uplink symbol set U S . The downlink symbol set D S ‌is a front part of the special time slot, and can carry part of the downlink physical channel or physical signal that meets the conditions according to the downlink resource configuration. The uplink symbol set U S ​is the end part of the special time slot, which can carry part of the uplink physical channel or physical signal according to the uplink resource configuration. The reserved symbol set G is located between the downlink symbol set and the uplink symbol set, and the downlink signal transmission and the uplink echo reception are isolated by reserving an empty window period to avoid signal overlapping interference, while providing hardware switching buffer time. Specifically, the reserved symbol set G is divided into two key stages: a transmission window that is immediately after the end of the downlink symbol set and is aligned with the starting boundary of the reserved period, which is used to transmit the sensing signal; and a receiving window that is adjacent to the beginning of the uplink symbol set and whose end boundary cannot exceed the termination time of the reserved period, which is used to capture the target reflected sensing echo signal. As shown in Figure 6 Figure 6 A TDD frame format configuration schematic diagram is provided for an embodiment of the present application. In the 5G protocol framework, the format of the TDD frame structure is indicated by a series of signaling controls. The signaling includes the following key parameters: TDD switching period, indicating the period length of a series of downlink and uplink time slot combinations, which is 5 time slots in this embodiment; Downlink time slot (symbol D), indicating a number of time slots used for downlink transmission in the period, which is 2 time slots in this embodiment; Downlink symbol set (symbol D S ), indicating a number of symbols used for downlink transmission after the downlink time slot, which is 2 symbols in this embodiment; Uplink time slot (symbol U), indicating a number of time slots used for uplink transmission in the period, which is 2 time slots in this embodiment; Uplink symbol set (symbol U S ), indicating a number of symbols used for uplink transmission before the uplink time slot, which is 2 symbols in this embodiment.

[0052] Among them, the undefined symbol is implicitly considered as a reserved symbol (symbol G), and no explicit scheduling is carried.

[0053] The special period for completing the downlink-uplink conversion is composed of consecutive downlink symbols, reserved symbols and uplink symbols, and the minimum granularity of the special period is a time slot. By signaling configuration, a sufficient reserved symbol set is reserved, which not only guarantees the delay overhead of the downlink-uplink signal conversion in communication, but also ensures that the sensing is not interfered by the communication signal.

[0054] In one embodiment, the related parameters of the sensing signal include (1) the transmission duration of the sensing signal; (2) the receiving window duration of the sensing echo signal; and (3) the receiving time offset of the sensing echo signal, i.e. there is an interval duration between the starting time of the transmission window of the sensing signal and the starting time of the receiving window of the sensing echo signal.

[0055] ​The transmission time of the sensing signal is aligned with the starting boundary of the first reserved symbol of the reserved symbol set, and the transmission duration of the sensing signal is determined by the waveform design of the sensing signal, which does not need to be aligned with the symbol unit of communication. The duration of the receiving window of the sensing echo signal is determined by the sensing scene, and the duration of the receiving window of the sensing echo signal is greater than or equal to the transmission duration of the sensing signal, and generally needs to be longer than the transmission duration of the sensing signal to tolerate echo signals arriving at different time delays.

[0056] In addition, the receiving time offset of the sensing echo signal does not need to be aligned with the symbol unit of communication, and different values are allowed for different nodes. Specifically, the interval duration corresponding to the first node is greater than or equal to the sum of the transmission duration of the sensing signal and the self-transmission and reception conversion duration from downlink to uplink. It can be understood that when the node switches from the downlink transmission state to the uplink reception state, the radio frequency front end needs to complete the operations such as power amplifier shutdown, filter switching, and low noise amplifier startup, and there is an inherent hardware delay in this process. In addition, there is an oscillation decay tail at the end of the sensing signal transmission, and if the receiving window is opened too early, the residual sensing signal will drown out the weak sensing echo signal. The interval duration corresponding to the second node is greater than or equal to the propagation time of the direct distance between the first node and the second node. It can be understood that there is an inherent delay in the propagation of electromagnetic waves in space, and the second node needs to set the starting time of the receiving window of the sensing echo signal after the arrival time of the direct distance signal, otherwise the effective echo will be missed due to the non-arrival of the sensing echo signal, and if the receiving window is opened too early, the interference signal (such as device shell reflection, close-range object scattering) reflected by the transmission end near the sensing echo signal in the environment object may be captured. The distance of the direct distance between the first node and the second node can be derived according to the position information of the first node and the position information of the second node. In one embodiment, as shown in Figure 7 Figure 7 a schematic diagram of the receiving time offset of the sensing echo signal provided by the embodiment of the application, Figure 7 In the above-mentioned embodiment, TRP#0 is the first node, TRP#1, TRP#2, and TRP#3 are the second nodes, TRP#0 transmits the sensing signal in the Sensing Tx window, and TRP#0, TRP#1, TRP#2, and TRP#3 receive the sensing echo signal in the respective corresponding Sensing Rx windows, wherein Sensing Offset is the receiving time offset of the sensing echo signal corresponding to each node.

[0057] In addition, for the first node, due to the time delay problem of duplex switching, a near-field blind area of the sensing range will be caused, and the reason is that if the object is too close to the first node, the sensing echo signal that arrives at the first node too early cannot be captured in the receiving window, resulting in being unable to be sensed. The near-field blind area can be compensated by the sensing echo signal received by the second node. ​

[0058] As described above, this embodiment of the invention achieves high reliability and efficiency of the sensing system by dynamically adjusting the transmit / receive interval. For the first node, the interval ensures sufficient hardware switching and signal attenuation to avoid self-interference of the transmitted signal; for the second node, the interval matches the direct path propagation delay to accurately capture the target echo. This differentiated design ensures the integrity of the sensing signal, optimizes time resource utilization, and is compatible with both single-node and multi-node collaborative scenarios, significantly improving the robustness and measurement accuracy of the sensing system in complex environments.

[0059] This invention also provides an environmental sensing device based on multi-point cooperation, such as... Figure 8 As shown, Figure 8 This is a schematic diagram of a multi-point cooperative environmental sensing device provided in an embodiment of the present invention. The multi-point cooperative environmental sensing device is applied to a base station, which has multiple nodes connected to it for signal transmission. The multi-point cooperative environmental sensing device includes: The node cluster determination module 301 is configured to determine a node cluster consisting of multiple nodes within the target area to be perceived in the context of triggering an area perception task. The node allocation module 302 is configured to determine a first node in the node cluster for transmitting sensing signals and receiving sensing echo signals, and to determine the remaining nodes in the node cluster as second nodes for receiving sensing echo signals. The sensing and detection module 303 is configured to control the first node to transmit sensing signals, receive sensing echo signals uploaded by the first node and the second node, and determine the sensing result based on the received sensing echo signals.

[0060] This also includes: The target number determination module is configured to determine the target number of environmental perception operations required by the area perception task after the area perception task is triggered and before the first node for transmitting perception signals and receiving perception echo signals is determined in the node cluster.

[0061] The sensing and detection module 303 is also configured to re-perform environmental sensing, identify a new first node in the node cluster, and control the new first node to emit a sensing signal to determine a new sensing result, until the number of environmental sensing operations reaches the target number.

[0062] In this system, nodes communicate via time-division duplex frames. The transmission of sensing signals and the reception of sensing echo signals take place within a reserved period of a special time slot in the time-division duplex frame. This special time slot is used to provide transition time for the downlink-to-uplink transmission and reception conversion, as well as to achieve time-division isolation between the transmission of sensing signals and the reception of sensing echo signals.

[0063] The special time slots include a downlink symbol set, a reserved symbol set, and an uplink symbol set. The reserved symbol set is used to provide a time window for the transmission of sensing signals and the reception of sensing echo signals.

[0064] Among them, the transmission time of the sensing signal is aligned with the starting boundary of the first reserved symbol in the reserved symbol set, and the duration of the receiving window of the sensing echo signal is greater than or equal to the transmission duration of the sensing signal.

[0065] There is an interval between the start time of the transmission window of the sensing signal and the start time of the reception window of the sensing echo signal. The interval corresponding to the first node is greater than or equal to the sum of the transmission time of the sensing signal and the transmission-reception conversion time of the node itself from downlink to uplink. The interval corresponding to the second node is greater than or equal to the propagation time of the direct path between the node and the first node.

[0066] The sensing and detection module 303 is further configured to upload the sensing result to the upper-layer node after determining the sensing result based on the received sensing echo signal, so that the upper-layer node can summarize the sensing results of multiple base stations and determine the all-round sensing result based on the summarized sensing result.

[0067] The multi-point cooperative environment sensing device provided in this embodiment of the invention is included in a base station and can be used to execute the multi-point cooperative environment sensing method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0068] It is worth noting that in the above embodiments of the multi-point collaborative environmental sensing device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0069] This embodiment also provides a base station, such as Figure 9 As shown, Figure 9 The present invention provides a hardware framework diagram of a base station, wherein the base station 40 includes a processor 400 and a memory 401; Memory 401 is used to store computer program 402 and transfer computer program 402 to processor 400; The processor 400 is used to execute the steps in the above embodiment of an environment perception method based on multi-point cooperation according to the instructions in the computer program 402.

[0070] For example, the computer program 402 can be divided into one or more modules / units, one or more modules / units are stored in the memory 401 and executed by the processor 400 to complete the present application. One or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 402 in the base station 40.

[0071] The base station 40 can include, but is not limited to, the processor 400, the memory 401. Those skilled in the art can understand that, Figure 9 The base station 40 is only an example and does not constitute a limitation on the base station 40, and can include more or fewer components than the illustrated, or combine certain components, or different components, for example, the base station 40 can also include an input / output device, a network access device, a bus, etc.

[0072] The processor 400 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0073] The memory 401 can be an internal storage unit of the base station 40, such as a hard disk or memory of the base station 40. The memory 401 can also be an external storage device of the base station 40, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the base station 40. Further, the memory 401 can include both the internal storage unit and the external storage device of the base station 40. The memory 401 is used to store computer programs and other programs and data required by the base station 40. The memory 401 can also be used to temporarily store data that has been output or will be output.

[0074] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0075] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. For example, the division of the units is merely logical function division. There can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0076] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0077] In addition, each function unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of a software function unit.

[0078] If the integrated unit is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such an understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various storage media that can store computer programs.

[0079] The embodiments of the present application also provide a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a multi-point cooperation based environment perception method, and the method comprises the following steps: In the case of triggering the region perception task, a node cluster composed of a plurality of nodes is determined in a target region to be subjected to environment perception; determining a first node in the node cluster for transmitting the sensing signal and receiving the sensing echo signal, and determining the remaining nodes in the node cluster as second nodes for receiving the sensing echo signal; controlling the first node to transmit the sensing signal, receiving the sensing echo signals uploaded by the first node and the second nodes, and determining a sensing result based on the received sensing echo signals.

[0080] It should be noted that the above only describes the preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the embodiments of the present application are not limited to the specific embodiments herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the embodiments of the present application. Therefore, although the embodiments of the present application have been described in more detail through the above embodiments, the embodiments of the present application are not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the embodiments of the present application, and the scope of the embodiments of the present application is determined by the scope of the appended claims.

Claims

1. An environment perception method based on multi-point collaboration, characterized in that, Applied to a base station, wherein the base station has multiple nodes connected for signal transmission, the method includes: When a region perception task is triggered, a node cluster consisting of multiple nodes is determined within the target region where environmental perception is to be performed. In the node cluster, a first node is determined for transmitting sensing signals and receiving sensing echo signals, and the remaining nodes in the node cluster are determined as second nodes for receiving the sensing echo signals. The system controls the first node to transmit the sensing signal, receives the sensing echo signals uploaded by the first node and the second node, and determines the sensing result based on the received sensing echo signals.

2. The environment perception method based on multi-point cooperation according to claim 1, characterized in that, After the triggering area sensing task, and before determining the first node in the node cluster for transmitting sensing signals and receiving sensing echo signals, the process further includes: Determine the target number of environmental perception operations required for the area perception task. Accordingly, after determining the sensing result based on the received sensing echo signal, the method further includes: The environmental perception is repeated, a new first node is determined in the node cluster, and the new first node is controlled to emit the perception signal to determine a new perception result, until the number of environmental perceptions reaches the target number.

3. The environment perception method based on multi-point cooperation according to claim 1, characterized in that, The nodes communicate via time-division duplex frames. The transmission of the sensing signal and the reception of the sensing echo signal are carried out during the reserved period of a special time slot in the time-division duplex frame. The special time slot is used to provide transition time for the downlink to uplink transmission and reception conversion, and to achieve time-division isolation between the transmission of the sensing signal and the reception of the sensing echo signal.

4. The environment perception method based on multi-point cooperation according to claim 3, characterized in that, The special time slot includes a downlink symbol set, a reserved symbol set, and an uplink symbol set. The reserved symbol set is used to provide a time window for the transmission of the sensing signal and the reception of the sensing echo signal.

5. The environment perception method based on multi-point cooperation according to claim 4, characterized in that, The transmission time of the sensing signal is aligned with the starting boundary of the first reserved symbol in the reserved symbol set, and the duration of the receiving window of the sensing echo signal is greater than or equal to the transmission duration of the sensing signal.

6. The environment perception method based on multi-point cooperation according to claim 4, characterized in that, There is an interval between the start time of the transmission window of the sensing signal and the start time of the reception window of the sensing echo signal, and the interval corresponding to the first node is greater than or equal to the sum of the transmission duration of the sensing signal and its own transmission and reception conversion duration from downlink to uplink, and the interval corresponding to the second node is greater than or equal to the propagation time of the direct path between itself and the first node.

7. The environment perception method based on multi-point cooperation according to claim 1, characterized in that, After determining the sensing result based on the received sensing echo signal, the method further includes: The perception results are uploaded to the upper-layer node, so that the upper-layer node can aggregate the perception results of multiple base stations and determine the all-round perception results based on the aggregated perception results.

8. An environmental sensing device based on multi-point cooperation, characterized in that, Applied to a base station, wherein the base station has multiple nodes connected to it for signal transmission, the device includes: The node cluster determination module is configured to determine a node cluster consisting of multiple nodes within a target area to be perceived in the context of a triggered area perception task. The node allocation module is configured to determine a first node in the node cluster for transmitting sensing signals and receiving sensing echo signals, and to determine the remaining nodes in the node cluster as second nodes for receiving the sensing echo signals. The sensing and detection module is configured to control the first node to transmit the sensing signal, receive the sensing echo signals uploaded by the first node and the second node, and determine the sensing result based on the received sensing echo signals.

9. A base station, characterized in that, The base station has multiple nodes connected to it for signal transmission, and the base station includes a processor and a memory. The memory is configured to store computer programs and transfer the computer programs to the processor; The processor is configured to execute the multi-point cooperative environment perception method as described in any one of claims 1-7 according to instructions in the computer program.

10. A storage medium for storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are configured to perform the environment-aware method based on multi-point cooperation as described in any one of claims 1-7.

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