Environment sensing method and device, electronic equipment and storage medium

Abstract

The invention provides an environment sensing method and device, electronic equipment and a storage medium, and relates to the technical field of wireless sensing, and the environment sensing method comprises the steps: generating a first wave beam; sending a first signal through the first wave beam, and receiving an echo signal corresponding to the first signal; according to the echo signal, building information in the coverage range of the first wave beam is determined; updating the first beam according to the building information to obtain a target beam; and determining the contour information of the building according to the target beam, thereby solving the technical problem of inaccurate building contour estimation in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wireless sensing, and in particular to an environment sensing method and device, an electronic device, and a storage medium. BACKGROUND

[0002] The principle of 5th Generation Mobile Communication Technology Advanced (5G-A) sensing is that a base station transmits a sensing signal, the signal produces scattering characteristics after reaching a detection target, the base station receives the echo signal of the target and analyzes it to complete detection and identification.

[0003] In a low-altitude scenario, continuous coverage in urban areas is one of the goals that the sensing technology needs to achieve. Due to the dense buildings in urban areas, the radar scattering cross section is large, and the echo power produced when the sensing signal is transmitted to the building is very large. The echo of a nearby building can cause the receiver to saturate or even burn out, seriously affecting the performance of the sensing base station. In the process of network construction, although some problems can be solved by avoiding close-range buildings, the echo power of distant buildings is still much larger than that of the target to be detected, making it impossible to correctly identify the target to be detected, resulting in false alarms and missed detection problems.

[0004] The current method to solve the building shielding problem is: first, directly reduce the transmit power of the base station in the direction of the building shielding to solve the problem of receiver saturation or blocking of the sensing base station. Second, based on the existing beam scheme, estimate the environment point cloud, and exclude areas with large static clutter to reduce the false alarm problem caused by large static clutter interference. However, directly reducing the transmit power of the base station beam can cause missed alarms and discontinuous coverage problems. When the environment point cloud estimation scheme is used for buildings, the exclusion range may be much larger than the actual range, and the accuracy is low. SUMMARY

[0005] The present application aims to at least partially solve one of the technical problems in the related art.

[0006] To this end, the first object of the present application is to provide an environment sensing method to achieve accurate and efficient building sensing.

[0007] The second object of the present application is to provide an environment sensing device.

[0008] The third object of the present application is to provide an electronic device.

[0009] The fourth object of the present application is to provide a computer-readable storage medium.

[0010] The fifth object of the present application is to provide a computer program product.

[0011] To achieve the above object, the first aspect of the present application proposes an environment perception method, comprising:

[0012] generating a first beam;

[0013] sending a first signal through the first beam, and receiving a corresponding echo signal of the first signal;

[0014] determining building information within the coverage range of the first beam according to the echo signal;

[0015] updating the first beam according to the building information to obtain a target beam;

[0016] determining the contour information of the building according to the target beam.

[0017] To achieve the above object, the second aspect of the present application proposes an environment perception device, comprising:

[0018] a generating module for generating a first beam;

[0019] a transceiving module for sending a first signal through the first beam, and receiving a corresponding echo signal of the first signal;

[0020] an identifying module for determining building information within the coverage range of the first beam according to the echo signal;

[0021] an updating module for updating the first beam according to the building information to obtain a target beam;

[0022] a perception module for determining the contour information of the building according to the target beam.

[0023] To achieve the above object, the third aspect of the present application proposes an electronic device, comprising:

[0024] a processor, and a memory connected to the processor in communication;

[0025] the memory stores computer execution instructions;

[0026] the processor executes the computer execution instructions stored in the memory to implement the method of the first aspect.

[0027] To achieve the above object, the fourth aspect of the present application proposes a computer readable storage medium, which stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the method of the first aspect.

[0028] To achieve the above object, the fifth aspect of the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of the first aspect.

[0029] The environment perception method, device, electronic device and storage medium provided by the present application generate a first beam and transmit a first signal through the first beam, receive a return signal of the first beam and determine building information in the coverage range of the first beam according to the return signal, update parameters such as the width and quantity of the first beam according to the building information, obtain a target beam when a stop updating condition is met, estimate building contour information according to the target beam, realize accurate building contour estimation, and perform environment perception with the adjusted target beam, thereby improving resource utilization and reducing the occurrence of false alarms and missed detection.

[0030] Additional aspects and advantages of the present application will be made apparent by the following description and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0031] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0032] Figure 1 A flowchart of an environment perception method provided by an embodiment of the present application;

[0033] Figure 2 A flowchart of an environment perception method provided by an embodiment of the present application;

[0034] Figure 2A A schematic diagram of wide-beam transmission and narrow-beam reception provided by an embodiment of the present application;

[0035] Figure 2B A schematic diagram of narrow-beam transmission and narrow-beam reception provided by an embodiment of the present application;

[0036] Figure 3 A flowchart of an environment perception method provided by an embodiment of the present application;

[0037] Figure 3A A schematic diagram of obtaining a target beam by adjustment provided by an embodiment of the present application;

[0038] Figure 3B A schematic diagram of determining edge contour feature points provided by an embodiment of the present application;

[0039] Figure 4 A flowchart of an environment perception method provided by an embodiment of the present application;

[0040] Figure 5 An application system logic diagram of an environment perception method provided by an embodiment of the present application;

[0041] Figure 6 A structural schematic diagram of an environment perception device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0042] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, in which the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0043] An environment perception method, device, electronic equipment and storage medium of an embodiment of the present application are described below with reference to the accompanying drawings.

[0044] Figure 1 A flowchart of an environment perception method provided by an embodiment of the present application. As shown in the figure, the method comprises the following steps: Figure 1

[0045] S101, generating a first beam.

[0046] It can be understood that a beam refers to a shape formed by electromagnetic waves emitted by a satellite antenna on the earth's surface; in the field of environment perception, a verification signal is transmitted within the coverage of a beam.

[0047] Optionally, the configuration scheme of the current network device can be read from the network device management side, and two configuration schemes are included in the embodiment, scheme one is wide-beam transmission and narrow-beam reception, and scheme two is narrow-beam transmission and narrow-beam reception, different configuration schemes correspond to different beam widths, beam numbers and transmission powers of the generated first beam.

[0048] In some embodiments, if the configuration scheme is wide-beam transmission and narrow-beam reception, the initial coverage in the horizontal direction is by a wide beam, the transmission power of a single wide beam is low, and the number of beams in the horizontal direction is ≤3; if the configuration scheme is narrow-beam transmission and narrow-beam reception, the initial coverage in the horizontal direction is by a narrow beam, the transmission power of a single narrow beam is high, and the number of beams in the horizontal direction is ≥4; the transmission power of the wide beam and the transmission power of the narrow beam differ by 20dBm in the embodiment, which can be adaptively adjusted in other embodiments, and the specific adjustment is not limited.

[0049] S102, transmitting a first signal through the first beam and receiving a return signal corresponding to the first signal.

[0050] ​In this embodiment, the first signal is a check signal. When transmitting with a wide beam, the initial power of the check signal can be set to the initial value P_Check0. The initial value is configured in advance and will not be described in detail in this embodiment. When transmitting with a narrow beam, the initial power of the check signal is lower than the initial value. For example, the initial power is P_Check0-15dBm to P_Check0-20dBm, which is 15dBm to 20dBm lower than the initial value.

[0051] It is understood that the first signal is sent within the coverage area of ​​the first beam, and the echo signal corresponding to the first signal is received. The echo signal refers to the electromagnetic wave or sound wave signal reflected back from the target object to the receiving device. In this embodiment, the target object is a building, and the receiving device is a network device, such as a sensor base station.

[0052] S103, Based on the echo signal, determine the building information within the coverage area of ​​the first beam.

[0053] Optionally, building information may include, but is not limited to, the existence of a building.

[0054] In some embodiments, the presence of a building within the coverage area of ​​the first beam can be determined based on the signal characteristics of the echo signal, such as a preset power threshold. The presence of a building within the coverage area of ​​the first beam is determined based on the magnitude of the echo signal power and the preset power threshold. For example, when the echo signal power is less than the preset power threshold, it is determined that there is no building within the current coverage area and no processing is required; when the echo signal power is greater than or equal to the preset power threshold, it is determined that there is a building within the current coverage area.

[0055] In some embodiments, building information may also include the number of buildings and the distance between each building and the base station. When it is determined that there are buildings within the coverage area, the characteristics of the echo signal can be collected, such as capturing the time difference, intensity and phase change of the echo signal, to generate feature data. The feature data can be inferred and analyzed by a deep learning model to determine the number of buildings within the coverage area and the distance between each building and the base station. In other embodiments, different methods can be used to obtain the number of buildings, which will not be elaborated here.

[0056] S104, Update the first beam based on the building information to obtain the target beam.

[0057] Optionally, the width and number of the first beams can be adjusted according to the distance between the base station and the building in the building information; for example, the width of the first beams is reduced and the number of the beams is increased according to the distance between the building and the base station, the closer the distance, the more the width of the first beams is reduced and the more the number of the beams is increased, for example, when the distance is closer, the width of the first beams is reduced to 1 / 2 of the original width and the number of the beams is increased to 2 times, when the distance is farther, the width of the first beams is reduced to 1 / 4 of the original width and the number of the beams is increased to 4 times.

[0058] Further, whether the accuracy requirement is met can be determined according to the beam width of the updated first beams and the distance, if not, the first beams are iteratively updated until the accuracy requirement is met, and the final target beams are obtained.

[0059] S105, according to the target beams, the contour information of the building is determined.

[0060] Optionally, the contour information can be obtained according to the feature beams in the target beams, for example, the edge feature points of the building are estimated by the edge beams in the target beams, and the contour of the building is estimated according to the edge feature points of the building to obtain the contour information of the building.

[0061] In the embodiment, the first beams are generated and the first signals are transmitted through the first beams, the echo signals are received and the building information in the coverage range of the first beams is determined according to the echo signals, the width and number of the first beams are updated according to the distance in the building information, the target beams are obtained when the stop updating condition is met, and the building contour information is estimated according to the target beams, so that the accurate building contour estimation is realized, the deduction area is reduced, and the occurrence of false alarm and missed detection is reduced.

[0062] On the basis of the above-mentioned embodiments, Figure 2 A flowchart of an environment perception method provided by the embodiment of the present application is shown in FIG. 1. Figure 2 As shown in the figure, the method comprises the following steps:

[0063] S201, first beams are generated.

[0064] Optionally, beam configuration information can be obtained; beam configuration parameters are determined according to the beam configuration information, wherein the beam configuration parameters at least include beam transmission power, beam number and beam width; the first beams are generated according to the beam configuration parameters.

[0065] Specifically, the beam configuration information includes a configuration scheme of wide-beam transmission and narrow-beam reception and a configuration scheme of narrow-beam transmission and narrow-beam reception, as shown in Figure 2A The configuration scheme of wide-beam transmission and narrow-beam reception is shown in FIG. 2; Figure 2BThe schematic diagram of narrow-beam transmission and narrow-beam reception; the beam configuration parameters corresponding to different configuration schemes are different, for example, the configuration scheme is wide-beam transmission and narrow-beam reception, the initial coverage in the horizontal direction is by a wide beam, the transmission power of a single wide beam is low, and the number of beams in the horizontal direction is less than or equal to 3; the configuration scheme is narrow-beam transmission and narrow-beam reception, the initial coverage in the horizontal direction is by a narrow beam, the transmission power of a single narrow beam is high, and the number of beams in the horizontal direction is greater than or equal to 4.

[0066] In the embodiments of the present application, the implementation method of step S201 can be implemented by any one of the embodiments of the present disclosure, and here it is not limited, and will not be repeated.

[0067] S202, transmitting a first signal through a first beam and receiving a corresponding echo signal of the first signal.

[0068] In some embodiments, the receiving state of the receiver in the network device can also be monitored; that is, the receiver in the base station is used to receive the echo signal, in order to avoid the saturation or blocking of the receiver causing the reception to fail, the receiving state of the receiver in the network device is monitored in real time, and the receiving state includes the abnormal state of the saturation or blocking of the receiver and the normal state of the normal reception.

[0069] In response to the receiving state indicating that the receiver is abnormal, the beam position of the first beam corresponding to the receiving abnormality is determined; it can be understood that when the receiving state indicates that the receiver is abnormal, the echo signal cannot be continuously received, and then the beam position of the corresponding first beam can be determined according to the azimuth angle of the current echo signal that cannot be received.

[0070] Further, the signal reception power of the beam position is reduced until the receiving state of the receiver is normal; optionally, in the present embodiment, the adjustment of the signal reception power is performed at an interval of 3dBm-5dBm, the echo signal is received based on the adjusted signal reception power, and it is determined whether the current receiving state of the receiver is normal, if it is still not normal, the adjustment of the signal reception power is continued until the receiving state of the receiver is normal.

[0071] In some embodiments, for the configuration scheme of narrow-beam transmission and narrow-beam reception, the receiver still has the saturation or blocking phenomenon when the signal reception power is adjusted to the minimum, that is, when the adjusted signal reception power is less than or equal to the preset threshold and the receiver is still abnormal, the transmission power of the first signal is reduced until the receiving state of the receiver is normal.

[0072] Optionally, the first signal transmission power can be reduced at intervals of 3dBm-5dBm until the receiver state is normal and no longer continues to adjust, or reaches a stop condition and no longer continues to adjust, and the first signal transmission power adjustment is BP1 in the embodiment, BP1 is used to specify a specific stable operating point, for example, the transmission power is reduced to the minimum value that can be stably maintained, and the echo signal of the received first signal is stopped when the receiver state is normal.

[0073] In the embodiment of the application, the implementation method of step S202 can be implemented by any one of the embodiments of the present disclosure, which is not limited herein and will not be described again.

[0074] S203, based on the signal characteristics of the echo signal, the echo signal is screened to determine the target signal in the echo signal.

[0075] In some embodiments, the frequency domain Doppler characteristics of the echo signal can be obtained, and the echo signal whose frequency domain Doppler characteristics meet the first set condition is determined as a candidate signal; optionally, the echo signal can be transmitted to the building baseband unit (BBU) through the interface by the receiver for signal processing, the frequency domain Doppler characteristics of the echo signal are extracted based on the BBU, and the echo signal with zero Doppler characteristics is determined as the echo signal meeting the first set condition, that is, the echo signal with zero Doppler characteristics is the candidate signal.

[0076] Further, the power of each candidate signal is obtained, and the candidate signal whose power meets the second preset condition is determined as the target signal; in the embodiment, whether the second preset condition is met is determined by the preset static clutter identification threshold TH0, if the power of the candidate signal is less than TH0, it indicates that there is no building in the current beam coverage range, and no processing is needed; otherwise, if the power of the candidate signal is greater than or equal to TH0, it indicates that there is a building in the current beam coverage range, and static clutter suppression and elimination processing is needed, and the candidate signal whose power is greater than or equal to TH0 is recorded as the target signal.

[0077] S204, determining the building information according to the target signal.

[0078] Optionally, the signal identification of the target signal can be obtained; in the embodiment, the signal identification refers to the serial number mark of each echo signal when the echo signal is received, and the serial number of the echo signal is determined as the signal identification according to the receiving order of the echo signal. After the echo signal is screened by Doppler characteristics and power, the screened target signal is obtained, and the signal identification of the screened target signal can be completely continuous or not completely continuous.

[0079] Optionally, the number of buildings can be determined according to the continuity of the signal identifiers, and the building information at least includes the number of buildings; in response to the continuity of the signal identifiers of the target signal, it is determined that there is one building; in response to the partial continuity of the signal identifiers, the continuous signal identifiers are divided into a plurality of continuous groups, and the number of the continuous groups is the number of buildings, for example, the signal identifiers are {4, 5, 6, 12, 13, 14}, the continuous groups are [4, 5, 6] and [12, 13, 14], and the number of buildings is 2.

[0080] Optionally, the receiving time of the target signal in each continuous group can also be obtained; the distance between the network device and the building corresponding to each continuous group can be determined according to the time difference between the sending time of the first signal and the receiving time corresponding to each continuous group; wherein the receiving time corresponding to each continuous group can be the receiving time of any echo signal in the group, or a characteristic value such as the minimum or maximum value of the receiving time of the echo signals in the group, the distance between the network device and the building is determined according to the signal sending speed and the transmission time, and the building information further includes the distance between the network device and each building.

[0081] S205, updating the first beam according to the building information to obtain a target beam.

[0082] In the embodiments of the present application, the implementation method of step S205 can be implemented by any one of the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0083] S206, determining the contour information of the building according to the target beam.

[0084] In the embodiments of the present application, the implementation method of step S206 can be implemented by any one of the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0085] In the embodiments, the beam configuration information is obtained by the network management side, including two schemes of wide transmission and narrow reception and narrow transmission and narrow reception, different first beams are generated according to different beam configuration information, the first signal is transmitted through the first beam, and when the receiver receives the echo signal of the first signal, it is determined whether the receiver is saturated or blocked, so as to perform transmission and reception beam power adjustment, the beam level self-loop power adjustment greatly reduces the missed area, improves the equipment detection rate, when the receiver is adjusted to be normal, all echo signals are received and analyzed and screened, the target signal is obtained, and then the continuity and receiving time of the target signal are determined to determine the number of buildings and the distance between the buildings and the network device, accurate and comprehensive building information is obtained, the first beam is adjusted according to the building information, the contour information is estimated based on the adjusted target beam, the accuracy of building contour estimation is improved, the area of the removed region is reduced, and the false alarm and missed detection probability is reduced.

[0086] Based on the above embodiments, Figure 3 A flowchart of an environment perception method provided by an embodiment of the present application is shown in FIG. 1. As shown in the figure, the method comprises the following steps: Figure 3

[0087] S301, generating a first beam.

[0088] In the embodiment of the present application, the implementation method of step S301 can be implemented by any one of the embodiments of the present disclosure, which is not limited herein and will not be repeated.

[0089] S302, sending a first signal through the first beam and receiving an echo signal corresponding to the first signal.

[0090] In the embodiment of the present application, the implementation method of step S302 can be implemented by any one of the embodiments of the present disclosure, which is not limited herein and will not be repeated.

[0091] S303, determining building information in the coverage range of the first beam according to the echo signal.

[0092] In the embodiment of the present application, the implementation method of step S303 can be implemented by any one of the embodiments of the present disclosure, which is not limited herein and will not be repeated.

[0093] S304, determining a target update scheme corresponding to the first beam from the candidate update schemes according to the distance.

[0094] The target update scheme includes updating the beam width and the number of beams; in this embodiment, the distance is divided into near, middle-far and far according to certain rules, for example, the distance within 500 meters is near, the distance from 500 meters to 1000 meters is middle-far, and the distance above 1000 meters is far. In other embodiments, the distance division method can be different, which is not limited in detail; the corresponding target update scheme is determined according to the near, middle-far or far.

[0095] It can be understood that when there are multiple buildings in the coverage range of the first beam, the distance between each building and the network device can be different, so in the analysis process of estimating the building profile, the embodiment analyzes each building, that is, determines the target update scheme according to the distance between each building and the network device, and determines the target beam for the current building according to the target update scheme, to accurately estimate the profile of each building.

[0096] Optionally, the candidate update scheme in the embodiment is shown in the following table:

[0097] Table 1​

[0098] Beam width Number of beams Candidate update schemes A B Near-end A / 2 2*B Mid-far-end A / 3 3*B Far-end A / 4 4*B

[0099] Wherein, A is the original beam width, B is the original beam number, when the target update scheme is near-end corresponding determination, the beam width is adjusted to 1 / 2 of the original beam width, and the beam number is adjusted to 2 times of the original beam number; when the target update scheme is near-end corresponding determination, the beam width is adjusted to 1 / 3 of the original beam width, and the beam number is adjusted to 3 times of the original beam number; when the target update scheme is far-end corresponding determination, the beam width is adjusted to 1 / 4 of the original beam width, and the beam number is adjusted to 4 times of the original beam number.

[0100] S305, updating the first beam based on the target update scheme to obtain a target beam.

[0101] In some embodiments, the first beam can be updated at least once based on the target update scheme to obtain a second beam; for example, the first beam is updated based on the target update scheme to determine the second beam, and it is judged whether the second beam meets the accuracy condition to determine whether the second beam is the target beam.

[0102] Optionally, the accuracy value can be determined according to the distance and the beam width of the current second beam; in response to the accuracy value being less than or equal to a preset accuracy threshold, it is determined that the current second beam meets the accuracy requirement; specifically, it can be expressed as: f(Tan(A')*H)≤x, wherein A' is the beam width of the current second beam, H is the distance between the current analyzed building and the network device, f(Tan(A')*H) is the accuracy value, and x is the preset accuracy threshold, that is, when the adjusted second beam meets the above inequality, the second beam meets the accuracy requirement, and the second beam is determined as the target beam.

[0103] It can be understood that if the second beam does not meet the accuracy requirement, the current obtained second beam is updated based on the target update scheme, that is, the beam width and the beam number of the second beam are continuously adjusted until the updated beam meets the accuracy requirement, and the beam meeting the accuracy requirement is determined as the target beam. In this embodiment, the finally obtained target beam is an extremely narrow beam with reduced beam width, as shown in FIG. 4, the building building corresponds to the obstacle beam, and the rest is the non-obstacle beam. The beam width is adjusted until the target beam corresponding to the building building is determined, that is, the extremely narrow beam. Figure 3A

[0104] S306, determining the contour information of the building according to the target beam.

[0105] ​Optionally, the edge beam set can be determined from the target beam; in this embodiment, the edge beam set is the two most edge beams in the beam set of the target beam, wherein the beam with a negative beam direction is recorded as the first edge beam, and the beam with a positive beam direction is recorded as the second edge beam.

[0106] Further, the edge contour feature points of the building can be determined according to the edge beam set, specifically, the first edge point coordinates are calculated according to the first edge beam, the second edge point coordinates are calculated according to the second edge beam, and then the third edge point coordinates are calculated according to the first edge point and the second edge point, the third edge point being the midpoint of the first edge point and the second edge point, as shown in the following figure: Figure 3B wherein the first edge point, the second edge point and the third edge point correspond to the first edge point, the second edge point and the third edge point respectively, to form the edge contour feature points, and then the contour information of the building is constructed based on the edge contour feature points.

[0107] In some embodiments, the first edge beam and the second edge beam are determined, which essentially determines the first beam angle of the first edge beam and the second beam angle of the second edge beam, so as to determine the corresponding first edge point coordinates and the second edge point coordinates, and for any edge point, the calculation method of the coordinates is as follows:

[0108]

[0109] z = H * cos theta

[0110] wherein H is the distance between the building and the network device, (x, y, z) is the edge point coordinates, and theta is the edge beam angle.

[0111] In this embodiment, the implementation method of step S306 can be implemented by any one of the embodiments of the present disclosure, which is not limited herein and will not be described again.

[0112] In this embodiment, when the building information is acquired and the first beam is adjusted according to the building information, the beam width and the beam number are adjusted according to the distance between the building and the base station, the power consumption of the sensing-integrated base station is reduced, the resource utilization is improved, whether the precision condition is met is judged based on the adjusted beam and distance, and the iteration update of the first beam is stopped when the precision condition is met, the target beam is obtained, the edge beam in the target beam is determined, and the edge point of the building is estimated according to the edge beam to obtain the first edge point, the second edge point and the third edge point. The efficiency and precision of the building contour sensing are improved, and the problem of inaccurate building estimation is solved.

[0113] On the basis of the above-mentioned embodiments, Figure 4 A flowchart of an environment perception method provided by an embodiment of the present application is shown in FIG. 4. As shown in the figure, the method comprises the following steps: Figure 4

[0114] S401, generating a first beam.

[0115] In the embodiment of the present application, the implementation method of step S401 can be implemented by any one of the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0116] S402, sending a first signal through the first beam and receiving an echo signal corresponding to the first signal.

[0117] In the embodiment of the present application, the implementation method of step S402 can be implemented by any one of the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0118] S403, filtering the echo signal based on the signal characteristics of the echo signal to determine a target signal in the echo signal.

[0119] In the embodiment of the present application, the implementation method of step S403 can be implemented by any one of the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0120] S404, determining building information according to the target signal.

[0121] In the embodiment of the present application, the implementation method of step S404 can be implemented by any one of the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0122] S405, determining a target update scheme corresponding to the first beam from the candidate update schemes according to the distance.

[0123] In the embodiment of the present application, the implementation method of step S405 can be implemented by any one of the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0124] S406, updating the first beam based on the target update scheme to obtain a target beam.

[0125] In the embodiment of the present application, the implementation method of step S406 can be implemented by any one of the embodiments of the present disclosure, which is not limited here and will not be repeated.

[0126] S407, determining the contour information of the building according to the target beam. ​

[0127] In the embodiments of the present application, the implementation method of step S407 can be implemented by any one of the embodiments of the present disclosure, and here it is not limited, and will not be repeated.

[0128] Based on the steps S401-S407, it is assumed that in the currently deployed omnidirectional base station, a beam configuration scheme of 16 narrow beam transmission and 16 narrow beam reception is used in the horizontal direction; wherein the transmission power of the base station is 55dBm, and the antenna gain is 25dBi; there is a 10-story medium-sized office building about 500 meters away from the base station, and the Radar Cross-Section (RCS) thereof is about 40dBsm. If no beam adjustment is performed, the received power of the echo signal reaching the receiver RF front end can be calculated as -0.2dBm (transmission power + transmission antenna gain + reception antenna gain + RCS - path loss), which is too high to cause receiver blocking, and even burn out the receiver.

[0129] Based on the environmental perception method of the present embodiment, it is determined that the current beam configuration scheme is narrow transmission and narrow reception, and the first signal power is determined as the default value minus 20dBm, i.e. 55dBm-20dBm=35dBm.

[0130] The building echo power is calculated as -22.0dBm. At this time, because the transmission power has been adjusted, the receiver will not be burned out but still saturated, so it is necessary to reduce the reception beam power, adjust 10dBm, and then judge until the receiver is no longer saturated.

[0131] After the receiver is in a normal state, all echo signals are received and analyzed by the BBU for Doppler characteristics, and the echo signals corresponding to zero Doppler characteristics are retained.

[0132] The power of each retained echo signal is calculated, and the beams with power greater than the static clutter recognition threshold are retained to obtain the target signal.

[0133] According to the continuous situation of the signal identification of the target signal, the number of buildings existing in the first beam coverage range and the distance between each building and the network device are determined to obtain the building information.

[0134] The first beam is updated according to the distance between the building and the network device, for example, the distance between the building and the network device at this time is 500m, which belongs to the near end, so the beam width is adjusted to A / 2, the number of beams is changed from 2 to 4, and whether the updated beam meets the accuracy requirement is determined until the target beam is obtained, the first edge beam and the second edge beam in the target beam are determined, and specifically, the first beam angle of the first edge beam and the second beam angle of the second edge beam are determined.

[0135] Further, the first edge point and the second edge point are determined according to the first edge beam and the second edge beam, and after the first edge point and the second edge point are determined, the third edge point coordinates are determined according to the midpoint position, so as to perform building contour estimation.

[0136] In the embodiment, the beam configuration information is obtained through the network management side, different first beams are generated according to different beam configuration information, when the receiver receives the echo signal of the first signal, it is determined whether the receiver is saturated or blocked, so as to adjust the transmit and receive beam power until the receiver normally receives the echo signal, the beam level self-loop power adjustment greatly reduces the missed area, the echo signal is analyzed and screened to obtain the target signal, the continuity of the target signal and the receiving time are determined to determine the number of buildings and the distance between the buildings and the network equipment, accurate and comprehensive building information is obtained, the beam width and the number of beams are adjusted according to the distance between the building and the base station, the power consumption of the sensing integrated base station is reduced, the resource utilization is improved, whether the precision condition is met is determined based on the adjusted beam and distance, the target beam is obtained, the edge point of the building is estimated according to the edge beam in the target beam, the contour information of the building is obtained, the efficiency and accuracy of building contour perception are improved, and the problem of inaccurate building estimation is solved.

[0137] On the basis of the above-mentioned embodiments, Figure 5 The application logic diagram of the environment perception method provided by the embodiment of the application is that the environment learning module of the sensing base station is started, that is, the environment perception is started, the initial power of the pulse verification signal (the first signal) is determined according to whether the beam configuration scheme is a narrow beam transmission, the echo signal of the first signal is received and it is determined whether the receiver is blocked, if the receiver is blocked, the receiving power is adjusted, when the receiving power of the beam is adjusted, if the scheme is a narrow beam transmission, when the adjusted receiving power cannot meet the normal receiving of the receiver, the verification signal transmitting power is continuously reduced until the receiver can normally receive the echo signal, through the flexible adjustment of the transmitting and receiving beam power, the missed area is greatly reduced, and the equipment detection rate is improved; when there is no blocking or saturation of the receiver, the environment reconstruction and disposal module is entered, that is, the screening of the echo signal is performed, the target signal is determined, the building information is obtained according to the target signal, the first beam is updated according to the building information, the target beam is determined, and finally the process of building contour estimation based on the edge beam in the target beam is performed until the building contour estimation is completed, so as to notify the network management side that the current environment perception learning is completed, and the accuracy of environment perception is improved.

[0138] In order to realize the above-mentioned embodiments, the application further provides an environment perception device.

[0139] Figure 6 A structural schematic diagram of an environment perception device is provided in an embodiment of the present application. As shown in the figure, the environment perception device comprises: Figure 6

[0140] A generating module 601 is configured to generate a first beam;

[0141] A transceiving module 602 is configured to send a first signal through the first beam and receive a corresponding echo signal of the first signal;

[0142] An identifying module 603 is configured to determine building information in a coverage range of the first beam according to the echo signal;

[0143] An updating module 604 is configured to update the first beam according to the building information to obtain a target beam;

[0144] A perceiving module 605 is configured to determine contour information of the building according to the target beam.

[0145] Further, in a possible implementation manner of the embodiment of the present application, the generating module 601 comprises:

[0146] obtaining beam configuration information;

[0147] determining beam configuration parameters according to the beam configuration information, wherein the beam configuration parameters at least include beam transmission power, beam quantity and beam width;

[0148] generating the first beam according to the beam configuration parameters.

[0149] Further, in a possible implementation manner of the embodiment of the present application, the identifying module 603 comprises:

[0150] screening the echo signal based on a signal feature of the echo signal to determine a target signal in the echo signal;

[0151] determining the building information according to the target signal.

[0152] Further, in a possible implementation manner of the embodiment of the present application, the identifying module 603 comprises:

[0153] obtaining a frequency domain Doppler characteristic of the echo signal to determine that an echo signal satisfying a first set condition of the frequency domain Doppler characteristic is a candidate signal;

[0154] obtaining power of each candidate signal to determine that a candidate signal satisfying a second preset condition of the power is a target signal.

[0155] Further, in a possible implementation manner of the embodiment of the present application, the identifying module 603 comprises:

[0156] ​acquire a signal identifier of the target signal;

[0157] determine the number of buildings according to continuity of the signal identifier;

[0158] the building information at least comprises the number of buildings.

[0159] Further, in a possible implementation manner of the embodiment of the present application, the identification module 603 comprises:

[0160] determine that there is one building in response to the target signal being continuously identified;

[0161] in response to the signal identifier being partially continuous, divide the continuous signal identifier into a plurality of continuous groups, and the number of the continuous groups is the number of buildings.

[0162] Further, in a possible implementation manner of the embodiment of the present application, the identification module 603 further comprises:

[0163] acquire a receiving time of the target signal in each continuous group;

[0164] determine a distance between the network device and a building corresponding to the continuous group according to a time difference between the sending time of the first signal and the receiving time corresponding to each continuous group;

[0165] the building information further comprises the distance between the network device and each building.

[0166] Further, in a possible implementation manner of the embodiment of the present application, the building information at least comprises the distance between the building and the network device, and the updating module 604 comprises:

[0167] determine a target updating scheme corresponding to the first beam from the candidate updating schemes according to the distance, wherein the target updating scheme comprises updating of the beam width and the number of beams;

[0168] update the first beam based on the target updating scheme to obtain a target beam.

[0169] Further, in a possible implementation manner of the embodiment of the present application, the updating module 604 comprises:

[0170] perform at least one iterative updating on the first beam based on the target updating scheme to obtain a second beam;

[0171] determine that the second beam is the target beam in response to the second beam meeting the accuracy requirement;

[0172] in response to the second beam not meeting the accuracy requirement, update the second beam obtained at present based on the target updating scheme until the updated beam meets the accuracy requirement, and determine the target beam.

[0173] Further, in a possible implementation of the embodiment of the present application, the apparatus 600 comprises:

[0174] determine the accuracy value according to the distance and the beam width of the current second beam;

[0175] determine that the current second beam meets the accuracy requirement in response to the accuracy value being less than or equal to a preset accuracy threshold.

[0176] Further, in a possible implementation of the embodiment of the present application, the perception module 605 comprises:

[0177] determine the edge beam set from the target beam set;

[0178] determine the edge contour feature points of the building according to the edge beam set;

[0179] construct the contour information of the building based on the edge contour feature points.

[0180] Further, in a possible implementation of the embodiment of the present application, the apparatus 600 further comprises:

[0181] monitor the receiving state of the receiver in the network device;

[0182] determine the beam position of the first beam corresponding to the reception exception in response to the receiving state indicating that the receiver is receiving abnormally;

[0183] reduce the signal receiving power of the beam position until the receiving state of the receiver is normal.

[0184] Further, in a possible implementation of the embodiment of the present application, in response to the adjusted signal receiving power being less than or equal to a preset threshold and the receiver being abnormal, reduce the transmission power of the first check signal until the receiving state of the receiver is normal.

[0185] It should be noted that the foregoing explanation and description of the environment perception method embodiment also apply to the environment perception apparatus of the embodiment, which will not be described here.

[0186] In the embodiments of the present application, the beam configuration information is obtained through network management, different first beams are generated according to different beam configuration information, when the receiver receives the echo signal of the first signal, it is determined whether the receiver is saturated or blocked, so as to adjust the transmitting and receiving beam power until the receiver normally receives the echo signal, the beam level self-loop power adjustment greatly reduces the missed area, analyzes and screens the echo signal to obtain the target signal, determines the number of buildings and the distance between the buildings and the network equipment according to the continuity and receiving time of the target signal, obtains accurate and comprehensive building information, adjusts the beam width and the number of beams according to the distance between the buildings and the base station, reduces the power consumption of the integrated base station, improves the resource utilization, judges whether the precision condition is met based on the adjusted beam and distance, obtains the target beam, estimates the edge point of the building according to the edge beam in the target beam, and obtains the contour information of the building, improves the efficiency and precision of building contour perception, and solves the problem of inaccurate building estimation.

[0187] In order to realize the above-mentioned embodiments, the present application further provides an electronic device, comprising: a processor and a memory connected with the processor in communication; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to realize the method provided by the foregoing embodiments.

[0188] In order to realize the above-mentioned embodiments, the present application further provides a computer readable storage medium, the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to realize the method provided by the foregoing embodiments.

[0189] In order to realize the above-mentioned embodiments, the present application further provides a computer program product, comprising a computer program, which is executed by the processor to realize the method provided by the foregoing embodiments.

[0190] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in the present application comply with relevant laws and regulations and do not violate public order and good customs.

[0191] It should be noted that the personal information from the user should be collected for legal and reasonable purposes, and should not be shared or sold outside these legal uses. In addition, such collection / sharing should be carried out after obtaining the informed consent of the user, including but not limited to informing the user to read the user agreement / user notice before the user uses the function, and signing the agreement / authorization including authorization of relevant user information. In addition, any necessary steps should be taken to protect and ensure access to such personal information data, and ensure that other people with access to personal information data comply with their privacy policy and processes.

[0192] The present application contemplates an implementation that provides users with the ability to selectively opt in or opt out of permitting the collection and / or use of their personal information data. That is, the present disclosure contemplates providing users with the ability to prevent or limit the collection and / or use of their personal information data. For example, the present disclosure contemplates providing users with the ability to prevent or limit the collection and / or use of their personal information data by, for example, blocking or deleting cookies. In addition, the present disclosure contemplates providing users with the ability to determine whether and how to interact with the present disclosure by, for example, blocking web beacons. Further, the present disclosure contemplates providing users with the ability to access and / or edit their personal information data when such data is collected by the present disclosure. In addition, the present disclosure contemplates that the collection and / or use of personal information data can be limited to only those users who expressly consent or give permission to the collection and / or use of their personal information data.

[0193] In the foregoing detailed description, the description used with respect to the terms "one embodiment", "some embodiments”, "an example”, "a specific example” or "some examples” etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. Illustrative appearances of the above terms are not necessarily referred to the same embodiment or example throughout the description. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, in non-contradictory cases, those skilled in the art can combine and combine the features described in different embodiments or examples and the features of different embodiments or examples in the present application.

[0194] In addition, the terms "first", "second", etc. are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0195] Any process or method descriptions or descriptions of the flow diagrams in the present application can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions (or steps) in the process, and the various preferred embodiments of the present application include additional implementations in which the order of the steps can be different, including the steps can be performed in substantially simultaneous with one another, or in reverse order, depending upon the functionality involved. Such descriptions and representations are used by those skilled in the art of software manufacture to most effectively convey the substance of their work to others skilled in the art.

[0196] The logic and / or steps represented in flow diagrams or otherwise described herein, for example, can be considered as a sequence of executable instructions, and can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer-readable medium can be a product of the manufacturing and / or processing. The computer-readable medium can include, but is not limited to, the following: an electronic connection (an electronic device having one or more wires), a portable computer diskette (a magnetic device), a RAM (random access memory), a ROM (read-only memory), an EPROM (erasable programmable ROM) or a Flash memory, an optical fiber, and a portable CD ROM. In addition, the computer-readable medium can even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, for example via the optical scanner of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and stored in a computer memory.

[0197] It should be understood that aspects of the application can be implemented in hardware, software, firmware or combinations thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable instruction execution system. As such, in some embodiments, the steps or methods can be implemented in a combination of hardware and software. If implemented in hardware, as in another embodiment, any of the above techniques can be implemented with or without the use of the following technologies, which technologies are well known in the art: discrete logic circuitry having logic gates for implementing logic functions upon an application of data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), and other implementations which are known in the art.

[0198] Those of skill in the art would understand that information and signals can be represented using any of a variety of technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0199] In addition, each of the functional units in the various embodiments of the present application can be integrated in one processing module, or each of the units can be physically present separately, or two or more units can be integrated in one module. The integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0200] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. An environmental perception method, characterized in that, The method comprises: generating a first beam; sending a first signal through the first beam and receiving a corresponding echo signal of the first signal; determining building information within a coverage range of the first beam according to the echo signal; updating the first beam according to the building information to obtain a target beam; determining contour information of the building according to the target beam.

2. The method of claim 1, wherein, The generating of the first beam comprises: obtaining beam configuration information; determining beam configuration parameters according to the beam configuration information, wherein the beam configuration parameters at least include beam transmission power, beam quantity and beam width; generating the first beam according to the beam configuration parameters.

3. The method of claim 1, wherein, The determining of the building information within the coverage range of the first beam according to the echo signal comprises: screening the echo signal based on signal characteristics of the echo signal to determine a target signal in the echo signal; determining the building information according to the target signal.

4. The method of claim 3, wherein, The screening of the echo signal based on the signal characteristics of the echo signal to determine the target signal in the echo signal comprises: obtaining frequency domain Doppler characteristics of the echo signal to determine echo signals with the frequency domain Doppler characteristics satisfying a first set condition as candidate signals; obtaining power of each of the candidate signals to determine candidate signals with the power satisfying a second preset condition as target signals.

5. The method of claim 3, wherein, The determining of the building information according to the target signal comprises: obtaining signal identification of the target signal; determining a number of buildings according to continuity of the signal identification; the building information at least includes the number of buildings.

6. The method of claim 5, wherein, The determining of the number of buildings according to the continuity of the signal identification comprises: determining that there is one building in response to the signal identification of the target signal being continuous; dividing continuous signal identification into a plurality of continuous groups in response to the signal identification being partially continuous, and the number of the continuous groups is the number of buildings.

7. The method of claim 6, wherein, The determining of the building information according to the target signal further comprises: obtaining receiving time of the target signal in each continuous group; determining distance between a network device and a building corresponding to the continuous group according to a time difference between transmission time of the first signal and receiving time corresponding to each of the continuous groups; the building information further includes the distance between the network device and each building.

8. The method according to any one of claims 1-7, characterized in that, The building information at least includes the distance between the building and the network device, and the updating of the first beam according to the building information to obtain the target beam comprises: determining a target update scheme corresponding to the first beam from candidate update schemes according to the distance, wherein the target update scheme includes update of beam width and beam quantity; updating the first beam based on the target update scheme to obtain the target beam.

9. The method of claim 8, wherein, The updating of the first beam based on the target update scheme to obtain the target beam comprises: performing at least one iterative update of the first beam based on the target update scheme to obtain a second beam; determining the second beam as the target beam in response to the second beam satisfying an accuracy requirement; In response to the second beam not meeting the precision requirement, the second beam is updated based on the target update scheme until the updated beam meets the precision requirement, and a target beam is determined.

10. The method of claim 9, wherein, The method comprises: According to the distance and the beam width of the current second beam, a precision value is determined. In response to the precision value being less than or equal to a preset precision threshold, it is determined that the current second beam meets the precision requirement.

11. The method of claim 9, wherein, According to the target beam, the contour information of the building is determined, which comprises: An edge beam set is determined from the target beam; According to the edge beam set, an edge contour feature point of the building is determined; Based on the edge contour feature point, the contour information of the building is constructed.

12. The method of claim 2, wherein, The method further comprises: The receiving state of a receiver in a network device is monitored; In response to the receiving state indicating that the receiver is receiving abnormally, a beam position of a first beam corresponding to the receiving abnormality is determined; The signal receiving power of the beam position is reduced until the receiving state of the receiver is normal.

13. The method of claim 12, wherein, In response to the adjusted signal receiving power being less than or equal to a preset threshold and the receiver receiving abnormally, the transmission power of the first signal is reduced until the receiving state of the receiver is normal.

14. An environmental perception apparatus, characterized by Comprise: A generating module for generating a first beam; A transceiving module for transmitting a first signal through the first beam and receiving a echo signal corresponding to the first signal; An identifying module for determining building information within the coverage range of the first beam according to the echo signal; An updating module for updating the first beam according to the building information to obtain a target beam; A sensing module for determining the contour information of the building according to the target beam.

15. An electronic device, comprising: Comprise: A processor, and a memory in communication connection with the processor; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory to implement the method of any one of claims 1-13.

16. A computer readable storage medium characterized by: The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method of any one of claims 1-13.

17. A computer program product, characterised in that, A computer program is included, and the computer program is executed by the processor to implement the method of any one of claims 1-13.

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