Cooperative multi-point based environment perception method and apparatus, base station, and storage medium

Abstract

The application provides an environment sensing method and device based on multi-point cooperation, a base station and a storage medium. When a trigger area sensing task is triggered, a node cluster composed of multiple nodes is constructed, and the roles of first nodes and second nodes are reasonably distributed in the cluster. The first nodes are responsible for transmitting sensing signals and receiving echo signals, and the second nodes are only responsible for receiving sensing echo signals. The base station determines the sensing result by comprehensively processing the sensing echo signals received by all nodes in the node cluster. Through multi-point cooperation and node division, the application can obtain environment sensing information from multiple positions and angles of the target area, achieve more comprehensive and accurate sensing of the target area, and solve the technical problem that the prior art cannot obtain complete sensing information of the detected area.

Description

Technical Field

[0001] This invention relates to the field of communications, and more particularly to an environment sensing method, apparatus, base station, and storage medium based on multi-point cooperation. Background Technology

[0002] Currently, with the development of information technology and the expansion of communication network functions, wireless communication systems, in addition to communication capabilities, also need to possess the ability to sense the physical world. Therefore, integrated sensing and communication technologies have emerged. These technologies achieve both communication and sensing functions simultaneously by utilizing the same hardware platform, sharing the same spectrum resources, and even using the same wireless signal waveforms. In existing integrated sensing and communication networks, sensing data containing information such as the position, shape, or motion state of environmental objects is typically acquired through either a single-site sensing mode (a single node transmits a sensing signal and receives the echo) or a dual-site sensing mode (one node transmits a sensing signal, and another node receives the echo).

[0003] However, acquiring sensing data through single-station or dual-station sensing modes can easily result in blind spots, making it impossible to obtain complete sensing information about the detected area. Summary of the Invention

[0004] This application provides an environmental sensing method, device, base station, and storage medium based on multi-point collaboration. By using a multi-station collaborative sensing and detection method, it can obtain more comprehensive sensing information within the target area compared to existing single-station or dual-station sensing modes, thus solving the technical problem of not being able to obtain comprehensive sensing information in the prior art.

[0005] Firstly, this application provides an environment perception method based on multi-point cooperation, applied to a base station, wherein the base station has multiple nodes connected for signal transmission, and the method includes:

[0006] 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.

[0007] 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.

[0008] 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.

[0009] The process, which includes the following steps after the triggering of the area sensing task and before determining the first node in the node cluster for transmitting sensing signals and receiving sensing echo signals:

[0010] Determine the target number of environmental perception operations required for the area perception task.

[0011] Accordingly, after determining the sensing result based on the received sensing echo signal, the method further includes:

[0012] 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.

[0013] 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.

[0014] 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.

[0015] Wherein, 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.

[0016] 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.

[0017] The process, after determining the sensing result based on the received sensing echo signal, further includes:

[0018] 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.

[0019] Secondly, this application provides an environment sensing device based on multi-point cooperation, applied to a base station, wherein the base station has multiple nodes connected to it for signal transmission, and the device includes:

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Thirdly, this application provides a base station, which has multiple nodes connected to it for signal transmission, and the base station includes a processor and a memory;

[0024] The memory is configured to store computer programs and transfer the computer programs to the processor;

[0025] The processor is configured to execute the multi-point cooperative environment perception method as described in the first aspect, according to instructions in the computer program.

[0026] Fourthly, this application provides a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are configured to perform the multi-point cooperative environment awareness method as described in the first aspect.

[0027] As described above, this application provides an environmental sensing method, apparatus, base station, and storage medium based on multi-point collaboration. By constructing a node cluster composed of multiple nodes when triggering an area sensing task, and rationally allocating the roles of the first and second nodes within the cluster, the first node is responsible for transmitting sensing signals and receiving echo signals, while the second node is only responsible for receiving sensing echo signals. The base station integrates the sensing echo signals received by all nodes within the node cluster to determine the sensing result. This application, through multi-point collaboration and node division of labor, can acquire environmental sensing information from multiple locations and angles of the target area, achieving a more comprehensive and accurate perception of the target area and solving the technical problem that existing technologies cannot obtain complete sensing information of the detected area. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating an environment perception method based on multi-point collaboration, provided as an embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram illustrating the transmission of sensing signals and the reception of sensing echo signals, provided as an embodiment of the present invention.

[0030] Figure 3 This is a flowchart illustrating another environment perception method based on multi-point collaboration provided in an embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram illustrating the deployment of a sensing function according to an embodiment of the present invention.

[0032] Figure 5 This is a schematic diagram of the structure of a TDD frame provided in an embodiment of the present invention.

[0033] Figure 6 This is a schematic diagram of a TDD frame format configuration provided in an embodiment of the present invention.

[0034] Figure 7 This is a schematic diagram of the receiving time offset of the sensed echo signal provided in an embodiment of the present invention.

[0035] Figure 8 This is a schematic diagram of the structure of an environment sensing device based on multi-point cooperation, provided in an embodiment of the present invention.

[0036] Figure 9 This is a hardware framework diagram of a base station provided in an embodiment of the present invention. Detailed Implementation

[0037] The following description and accompanying drawings fully illustrate specific embodiments of this application to enable those skilled in the art to practice them. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of embodiments of this application includes the entire scope of the claims and all available equivalents of the claims. In this document, each embodiment may be referred to individually or collectively by the term "invention," which is merely for convenience and is not intended to automatically limit the scope of the application to any single invention or inventive concept if more than one invention is disclosed. Relational terms such as "first" and "second" are used herein only to distinguish one entity or operation from another, without requiring or implying any actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed. The various embodiments in this document are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the structures, products, etc., disclosed in the embodiments, since they correspond to the disclosed parts, the descriptions are relatively simple; relevant details can be found in the method section.

[0038] With the development of information technology and the expansion of communication network functions, new services such as ubiquitous intelligence, human-computer interaction, immersive XR, and digital twins are constantly emerging. Future wireless communication systems, in addition to communication capabilities, will also need to possess the ability to perceive the physical world, providing richer services and applications through the perception of target objects, events, or the environment. Based on this, Integrated Sensing and Communication (ISAC) has emerged. Also known as integrated communication and radar or integrated sensing, its core idea is to utilize the same hardware platform, share the same spectrum resources, and even use the same wireless signal waveforms to simultaneously achieve communication (transmitting information) and perception (detecting the environment).

[0039] In existing integrated sensing networks, sensing data containing information such as the position, shape, or motion state of environmental objects is typically acquired through single-station sensing mode (a single node transmits a sensing signal and receives the echo) or dual-station sensing mode (one node transmits a sensing signal, and another node receives the echo). However, acquiring sensing data through single-station or dual-station sensing modes is prone to detection blind spots due to the limited sensing range of the sensing nodes, resulting in the inability to obtain complete sensing information of the detected area.

[0040] To address the aforementioned technical problems, this invention provides a multi-point collaborative environment sensing method. This method is applied to a base station, which has multiple Transmission Point Nodes (TRP nodes) connected to it. These TRP nodes can be distributed radio frequency access devices or logical functional units used to extend network coverage, improve transmission reliability, and collaboratively process wireless information. In collaborative transmission among multiple TRP nodes, each TRP node represents an independent signal transceiver logical entity, potentially deployed on the same physical device or in different geographical locations. In this embodiment, the base station and TRP nodes can be deployed in an integrated sensing network, with each TRP node possessing both communication and sensing capabilities. Figure 1 As shown, Figure 1 This invention provides a flowchart illustrating an environment perception method based on multi-point collaboration, comprising the following steps:

[0041] Step 101: When the area perception task is triggered, determine a node cluster consisting of multiple nodes within the target area to be perceived.

[0042] In this embodiment, triggering an area perception task can be based on various factors, such as receiving instructions from upper-layer nodes to perform environmental perception, receiving user requests, or based on preset time periods or event conditions. Once an area perception task is triggered, the base station must first determine the scope of the target area to be perceived. The scope of the target area can be determined through geographical coordinates, cell division, and specific identifiers to ensure that subsequent perception operations are performed within the correct range.

[0043] After identifying the target area, it is necessary to further determine node clusters composed of multiple nodes from the numerous nodes attached to the target area. It should be noted that the selection of nodes within a cluster is not random; it requires comprehensive consideration of the nodes' distribution locations to ensure relatively uniform and sufficient coverage of the target area. Simultaneously, the signal transmission capabilities of the nodes must be considered to ensure that the selected nodes can effectively transmit and receive sensing signals. For example, clustering algorithms, geographic location-based grouping strategies, or methods based on the quality of node communication links can be used to determine node clusters, enabling the determined node clusters to cooperate and complete the environmental sensing task.

[0044] Step 102: Determine the first node in the node cluster for transmitting sensing signals and receiving sensing echo signals, and determine the remaining nodes in the node cluster as the second nodes for receiving sensing echo signals.

[0045] After identifying the node cluster in the target area, roles need to be assigned to the nodes within the cluster to determine the primary node responsible for transmitting sensing signals and receiving sensing echo signals. When determining the primary node, nodes with better performance, such as those with higher power transmission capabilities, better signal processing capabilities, and relatively stable position and direction, can be prioritized to ensure that the transmitted sensing signals have sufficient strength and quality, and that the sensing echo signals can be accurately received and processed. In this embodiment, there is at least one primary node. After determining the primary node, the remaining nodes in the node cluster are designated as secondary nodes solely for receiving sensing echo signals. This embodiment establishes a collaborative mechanism among the nodes within the cluster by assigning primary and secondary nodes. The primary node, as the initiator of active sensing, emits sensing signals to stimulate target objects in the environment to generate sensing echo signals. These echo signals return from different paths and directions and are received by both the primary node and the secondary node. The joint participation of multiple nodes in signal reception allows for the collection of richer environmental information, providing a more comprehensive data foundation for determining subsequent sensing results and increasing the accuracy and reliability of the sensing results.

[0046] Step 103: Control the first node to transmit a 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.

[0047] After determining the first and second nodes, the base station needs to control the first node to transmit a sensing signal according to a predetermined sensing signal format (such as specific frequency, waveform, power, and other parameters). When the sensing signal encounters a target object in the environment during propagation, it generates a sensing echo signal. The first and second nodes then receive the sensing echo signals. For example,... Figure 2 As shown, Figure 2This is a schematic diagram illustrating the transmission of a sensing signal and the reception of a sensing echo signal, provided in an embodiment of the present invention. Figure 2 In this system, TRP#0 is the first node, and TRP#1, TRP#2, and TRP#3 are the second nodes. After node TRP#0 sends a sensing signal, the sensing signal encounters an object S in the environment, generating a sensing echo signal. Nodes TRP#0, TRP#1, TRP#2, and TRP#3 respectively receive the sensing echo signal. In one embodiment, during the reception of 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 signal quality. Then, the processed sensing echo signal is uploaded to the base station.

[0048] After receiving the sensing echo signals uploaded by the first and second nodes, the base station performs comprehensive analysis and processing on the sensing echo signals to determine the sensing results. For example, by analyzing the time difference of arrival and angle of arrival information of multiple sensing echo signals, the base station can accurately locate multiple target objects in the environment, thereby constructing an environmental map or scene description within the target area. Simultaneously, it utilizes signal processing algorithms such as multi-point positioning algorithms and target recognition algorithms to analyze and fuse the sensing echo signals to determine information such as the speed, shape, and material of objects in the environment, ultimately generating a sensing result for the target area environment.

[0049] The above-described embodiments of the present invention provide an environmental perception method based on multi-point collaboration. This invention constructs a node cluster composed of multiple nodes when triggering an area perception task, and rationally allocates the roles of the first and second nodes within the cluster. The first node is responsible for transmitting perception signals and receiving echo signals, while the second node is only responsible for receiving the perception echo signals. The base station determines the perception result by integrating the perception echo signals received by all nodes within the node cluster. Through multi-point collaboration and node division of labor, this invention can acquire environmental perception information from multiple locations and angles within the target area, achieving a more comprehensive and accurate perception of the target area and solving the technical problem of existing technologies being unable to obtain complete perception information of the detected area.

[0050] This invention also provides another environment perception method based on multi-point cooperation, such as... Figure 3 As shown, Figure 3 This is a flowchart illustrating another environment perception method based on multi-point collaboration provided in an embodiment of the present invention. Figure 3 The multi-point collaborative environment perception method shown is a specific embodiment of the above-mentioned multi-point collaborative environment perception method. The multi-point collaborative environment perception method provided in this embodiment includes:

[0051] Step 201: When the area perception task is triggered, determine a node cluster consisting of multiple nodes within the target area to be perceived.

[0052] Step 202: Determine the target number of environmental perception operations required for the area perception task.

[0053] In this embodiment, for the sequential area perception task of the target area, multiple perception activities can be performed to obtain more comprehensive environmental perception data. Specifically, the area perception task also includes a target number of environmental perceptions that need to be performed. The target number of times can be carried in the instruction for performing environmental perception or the user request, or can be preset by the user.

[0054] Step 203: Determine the first node in the node cluster for transmitting sensing signals and receiving sensing echo signals, and determine the remaining nodes in the node cluster as the second nodes for receiving sensing echo signals.

[0055] Step 204: Control the first node to transmit a 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.

[0056] Step 205: Re-perform environmental perception, determine a new first node in the node cluster and control the new first node to emit a perception signal to determine a new perception result, until the number of environmental perceptions reaches the target number.

[0057] Accordingly, after each perception result is generated, the base station updates the number of environmental perception operations. It then determines whether the updated count has reached the target number. If not, a new environmental perception activity is required. When conducting a new environmental perception activity, a new first node needs to be selected from the node cluster, and the remaining nodes are designated as new second nodes. The new first node is preferentially selected from nodes in the node cluster that have not yet served as the first node in this area perception task. Furthermore, in each perception activity, the timing of the perception and the radio resources used must be defined to ensure that the timing of each perception activity does not conflict or overlap.

[0058] After a new first node is identified, it is controlled to transmit sensing signals again to initiate a new round of environmental sensing. Once the new first node transmits its sensing signals, the base station determines the new sensing results based on the sensing echo signals received and uploaded by the new first node and the new second node. The number of sensing activities is then updated, and a new sensing activity is initiated until the target number of sensing activities is reached. After the target number of sensing activities is reached, the base station can fuse the sensing results from multiple sensing activities to obtain a stable, comprehensive, and accurate sensing result.

[0059] Based on the above embodiments, after determining the sensing result based on the received sensing echo signal, the method further includes:

[0060] The sensing results are uploaded to the upper-layer nodes so that the upper-layer nodes can aggregate the sensing results from multiple base stations and determine the all-round sensing results based on the aggregated sensing results.

[0061] In one embodiment, after determining the sensing result, the base station further uploads the sensing result to the upper-layer node. The upper-layer node, after aggregating the sensing results from multiple base stations, can fuse the sensing results uploaded by each base station to determine the comprehensive sensing result. For example, the deployment of sensing functionality in network nodes at different levels, such as... Figure 4 As shown, Figure 4 This is a schematic diagram illustrating the deployment of a sensing function according to an embodiment of the present invention. The TRP set that makes up the node cluster can belong to the DU (Distributed Unit) of the same base station, the CU (Centralized Unit) of the same base station, or even different base stations of the same CN (Core Network). Corresponding sensing functions (SFs) are deployed on network element nodes at different levels of the integrated sensing network. Lower-level sensing data converges to higher levels, forming a complete and comprehensive environmental sensing result in the core network.

[0062] The above-mentioned method of aggregating the perception results of each base station by upper-layer nodes and generating all-round perception results can eliminate blind spots and errors of single stations, generate a boundless and high-precision all-round perception map by multi-source data fusion, and realize dynamic resource optimization and cross-station collaboration.

[0063] Based on the above embodiments, the nodes communicate through time-division duplex frames. The transmission of sensing signals and the reception of sensing echo signals are carried out within 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 sensing signals and the reception of sensing echo signals.

[0064] Specifically, in this embodiment, the integrated sensing network adopts Time Division Duplex (TDD) communication mode. Nodes in the integrated sensing network communicate through TDD frames, where a TDD frame is a basic time unit in the TDD communication system, used to alternately complete uplink (node ​​→ base station) and downlink (base station → node) data transmission on the same frequency band. Special time slots are dedicated time units in the TDD frame structure used to implement downlink-to-uplink conversion; they exist at specific locations within each TDD frame. For example, as shown... Figure 5 As shown, Figure 5This is a schematic diagram of a TDD frame structure provided in an embodiment of the present invention. The TDD frame includes a D (Downlink) time slot for the base station to send data or signals to the terminal / node; an S (Special) time slot for implementing uplink / downlink switching and isolating the transmission and reception of sensing signals and sensing echo signals; and a U (Uplink) time slot for the terminal / node to transmit data or sensing echo signals back to the base station. The node transmits sensing signals and receives sensing echo signals both within the special time slot S. That is, the special time slot reserves a period during which no communication transmission occurs, which is the time range within which sensing signals can be deployed. The special time slot provides transition time for the downlink-to-uplink transmission and reception transition, and achieves time-division isolation between the transmission of sensing signals and the reception of sensing echo signals. Specifically, sensing signals are transmitted without receiving sensing echo signals, and vice versa. In this way, a clean probe-echo link is ensured, and a complete sensing operation is confined to a special time slot, thus not interfering with subsequent normal uplink / downlink service time slots.

[0065] Based on the above embodiments, 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 sensing signals and the reception of sensing echo signals.

[0066] In one embodiment, the special time slot S includes a downlink symbol set D. S The reserved symbol set G and the uplink symbol set U S Downlink symbol set D S The uplink symbol set U is the front end of a special time slot, which can carry a portion of the downlink physical channel or physical signal that meets the conditions, based on downlink resource allocation. S This is the end portion of a special time slot, which can carry a portion of the uplink physical channel or physical signal that meets the conditions, based on uplink resource configuration. The reserved symbol set G is located between the downlink and uplink symbol sets. It isolates downlink signal transmission and uplink echo reception by reserving a window period, avoiding signal overlap interference and providing hardware handover buffer time. Specifically, the reserved symbol set G is divided into two key phases: Transmission window: immediately following the end of the downlink symbol set, aligned with the start boundary of the reserved period, used for transmitting sensing signals; Reception window: adjacent to the start of the uplink symbol set, with its end boundary not exceeding the end time of the reserved period, used for capturing the sensing echo signal reflected by the target. For example... Figure 6 As shown, Figure 6 This is a schematic diagram of a TDD frame format configuration provided by an embodiment of the present invention. In the 5G protocol framework, the format of the TDD frame structure is indicated through a series of signaling controls. The signaling includes the following key parameters:

[0067] The TDD conversion period represents the period length of a series of downlink and uplink time slot combinations; in this embodiment, it is 5 time slots.

[0068] Downlink time slots (symbol D) represent the first few time slots in a cycle used for downlink transmission; in this embodiment, there are 2 time slots.

[0069] Downlink symbol set (symbol D) S ), representing several symbols used for downlink transmission after the downlink time slot; in this embodiment, it is 2 symbols;

[0070] Uplink time slot (symbol U) represents the last few time slots in the cycle used for uplink transmission; in this embodiment, it is 2 time slots.

[0071] Upward symbol set (symbol U) S ), representing several symbols used for uplink transmission before the uplink time slot; in this embodiment, it is 2 symbols.

[0072] Undefined symbols are implicitly considered reserved symbols (symbol G), and do not carry communication signals without explicit scheduling.

[0073] A series of downlink symbols, reserved symbols, and uplink symbols constitute a special time slot for completing the downlink-to-uplink transition. The smallest granularity of this special time slot is a time slot. By reserving a sufficient set of reserved symbols through signaling configuration, both the latency overhead of downlink-to-uplink signal transition in communication and the protection of sensing from interference by communication signals are ensured.

[0074] In one embodiment, the relevant parameters of the sensing signal include (1) the transmission duration of the sensing signal; (2) the reception window duration of the sensing echo signal; and (3) the reception time offset of the sensing echo signal, that is, there is an interval duration 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.

[0075] The transmission time of the sensing signal is aligned with the starting boundary of the first reserved symbol in the reserved symbol set. The transmission duration of the sensing signal is determined by the waveform design of the sensing signal, and this duration does not need to be aligned with the symbol unit of communication. The duration of the receiving window for the sensing echo signal is determined by the needs of the sensing scenario. The duration of the receiving window for 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 with different time delays.

[0076] Furthermore, the receiving time offset of the sensed echo signal does not need to be aligned with the communication symbol unit, and different values ​​can be configured 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 sensed signal and its own downlink to uplink transmit / receive transition duration. It is understandable that when a node switches from downlink transmit to uplink receive mode, the RF front-end needs to complete operations such as power amplifier shutdown, filter switching, and low-noise amplifier startup, which involves inherent hardware delays. Additionally, there is an oscillation attenuation tail at the end of sensed signal transmission; if the receiving window opens too early, the residual sensed signal will overwhelm the weak sensed echo signal. The interval length corresponding to the second node is greater than or equal to the propagation time of the direct path between itself and the first node. It is understood that electromagnetic waves have an inherent propagation delay in space. The second node needs to set the start time of its reception window for sensing the echo signal after the arrival time of the direct path signal; otherwise, it will miss valid echoes because the sensing echo signal has not arrived. If the reception window opens too early, it may capture interference signals reflected near the transmitter (such as reflections from the device casing or scattering from nearby objects), rather than sensing echo signals from environmental objects. The distance of the direct path between the first and second nodes can be derived based on the position information of the first and second nodes. In one embodiment, as... Figure 7 As shown, Figure 7 This is a schematic diagram illustrating the receiving time offset of the sensed echo signal provided in an embodiment of the present invention. Figure 7 In this context, TRP#0 is the first node, and TRP#1, TRP#2, and TRP#3 are the second nodes. After node TRP#0 sends a sensing signal in the Sensing Tx window, nodes TRP#0, TRP#1, TRP#2, and TRP#3 receive sensing echo signals in their respective Sensing Rx windows. The Sensing Offset is the receiving time offset of the sensing echo signal for each node.

[0077] Additionally, for the first node, the time delay during duplex switching can cause a near-field blind zone in the sensing range. This is because if an 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 and thus cannot be sensed. The near-field blind zone can be compensated for by the sensing echo signal received by the second node.

[0078] 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.

[0079] 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:

[0080] 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.

[0081] 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.

[0082] 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.

[0083] This also includes:

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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;

[0094] Memory 401 is used to store computer program 402 and transfer computer program 402 to processor 400;

[0095] 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.

[0096] For example, computer program 402 may be divided into one or more modules / units, one or more of which are stored in memory 401 and executed by processor 400 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 402 in base station 40.

[0097] Base station 40 may include, but is not limited to, processor 400 and memory 401. Those skilled in the art will understand that... Figure 9 This is merely an example of base station 40 and does not constitute a limitation on base station 40. It may include more or fewer components than shown, or combine certain components, or different components. For example, base station 40 may also include input / output devices, network access devices, buses, etc.

[0098] The processor 400 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0099] 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, SmartMedia Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the base station 40. Furthermore, the memory 401 can include both internal and external storage units 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.

[0100] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0102] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0104] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing computer programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] This invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an environment awareness method based on multi-point cooperation. The method includes the following steps:

[0106] When a region perception task is triggered, a node cluster consisting of multiple nodes is identified within the target region where environmental perception is to be performed.

[0107] In the node cluster, the first node is determined to be used for transmitting sensing signals and receiving sensing echo signals, and the remaining nodes in the node cluster are determined to be the second nodes for receiving sensing echo signals.

[0108] The system controls the first node to transmit sensing signals, receives sensing echo signals uploaded by the first and second nodes, and determines the sensing result based on the received sensing echo signals.

[0109] Note that the above are merely preferred embodiments and the technical principles applied in this invention. Those skilled in the art will understand that the embodiments of this invention are not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of this invention. Therefore, although the embodiments of this invention have been described in detail above, the embodiments of this invention are not limited to the above embodiments. More other equivalent embodiments may be included without departing from the concept of the embodiments of this invention, and the scope of the embodiments of this invention is determined by the scope of the appended claims.

Claims

1. A method for cooperative environment perception based on multiple points, characterized in that, The method is applied to a base station, and the base station is hung with multiple nodes for signal transmission, and the method comprises the following steps of: In the case of triggering a region perception task, a node cluster composed of multiple nodes is determined in a target region to be subjected to environment perception; A target number of times of environment perception required by the region perception task is determined; A first node for transmitting a perception signal and receiving a perception echo signal is determined in the node cluster, and the remaining nodes of the node cluster are determined as second nodes for receiving the perception echo signal, the nodes communicate through a time division duplex frame, transmission of the perception signal and reception of the perception 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 for providing a transition time for downlink-to-uplink transceiver switching and realizing time division isolation of the transmission of the perception signal and the reception of the perception echo signal; The first node is controlled to transmit the perception signal, and the perception echo signal uploaded by the first node and the second nodes is received, and a perception result is determined based on the received perception echo signal; The environment perception is re-performed, new first nodes and new second nodes are determined in the node cluster, and the new first nodes are controlled to transmit the perception signal and receive the perception echo signal uploaded by the new first nodes and the new second nodes, until the number of times of the environment perception reaches the target number of times. 2.The method of claim 1, wherein, The special time slot comprises a downlink symbol set, a reserved symbol set and an uplink symbol set, and the reserved symbol set is used for providing a time window for the transmission of the perception signal and the reception of the perception echo signal. 3.The method of claim 2, wherein, A starting boundary of a first reserved symbol of the reserved symbol set is aligned with a transmission time of the perception signal, and a length of a reception window of the perception echo signal is greater than or equal to a transmission length of the perception signal. 4.The method of claim 2, wherein, There is an interval length between a starting time of a transmission window of the perception signal and a starting time of a reception window of the perception echo signal, the interval length corresponding to the first node is greater than or equal to a sum of the transmission length of the perception signal and a downlink-to-uplink transceiver switching length of the first node, and the interval length corresponding to the second node is greater than or equal to a propagation time of a direct distance between the second node and the first node. 5.The method of claim 1, wherein, After the perception result is determined based on the received perception echo signal, the method further comprises the following steps of: The perception result is uploaded to an upper node, so that the upper node determines an all-around perception result based on the perception results of multiple base stations after the perception results are aggregated.

6. A cooperative multipoint based environment perception apparatus, comprising: The method is applied to a base station, and the base station is hung with multiple nodes for signal transmission, and the method comprises the following steps of: A node cluster determination module is configured to determine a node cluster composed of multiple nodes in a target region to be subjected to environment perception in the case of triggering a region perception task; A target number of times determination module is configured to determine a target number of times of environment perception required by the region perception task; A node cluster determination module is configured to determine a node cluster composed of multiple nodes in a target region to be subjected to environment perception in the case of triggering a region perception task; a node allocation module configured to determine a first node in the node cluster for transmitting a sensing signal and receiving a sensing echo signal, and determine remaining nodes in the node cluster as second nodes for receiving the sensing echo signal, wherein the nodes communicate through a time division duplex frame, transmission of the sensing signal and 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 downlink-to-uplink transceiver switching, and achieve time division isolation of the transmission of the sensing signal and the reception of the sensing echo signal; a sensing detection module configured to 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, the sensing detection module is further configured to re-perform the environmental sensing, determine new first nodes and new second nodes in the node cluster, and control the new first nodes to transmit the sensing signal and receive the sensing echo signal uploaded by the new first nodes and the new second nodes, until the number of times of the environmental sensing reaches the target number of times.

7. A base station, characterized by 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 multi-point cooperation based environmental sensing method according to the instructions in the computer program.

8. A storage medium storing computer-executable instructions, wherein: The computer executable instructions are configured to execute the multi-point cooperation based environmental sensing method when executed by the computer processor.

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