Target information determination method and device for sensing target, electronic equipment and medium

Abstract

The embodiment of the invention provides a target information determination method and device of a sensing target, electronic equipment and a medium, and relates to the technical field of communication, and the method comprises the steps: determining an echo signal component corresponding to at least one piece of candidate information of at least one sensing target based on a normalized echo signal corresponding to a sensing signal in a communication and sensing integrated system; for each sensing target, based on the normalized echo signal and the echo signal component corresponding to each piece of candidate information, respectively determining a target echo signal corresponding to each echo signal component; and target information of the sensing target is determined from the candidate information based on the target echo signals, accurate determination of the target information of the sensing target meeting precision and time delay requirements is realized by using limited time-frequency domain resources, high-precision resolution sensing is further realized, the sensing performance of the sensing integrated system is improved, and the sensing efficiency of the sensing integrated system is improved. And meanwhile, the influence on communication services can be reduced.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a method, apparatus, electronic device and medium for determining target information of a sensing target. Background Technology

[0002] The International Telecommunication Union (ITU) has identified Integrated Sensing and Communication (ISAC) as a key use case for 6G networks. This means that future 6G networks will not only need to provide communication services but also support a variety of highly demanding sensing applications. For example, applications such as gesture recognition, augmented reality, and environmental reconstruction require centimeter-level distance sensing accuracy and resolution, while remote surgery even requires millimeter-level accuracy and resolution. To meet such high requirements for distance sensing accuracy and resolution, ISAC systems require a vast amount of continuous bandwidth for sensing. However, current cellular networks can only provide each operator with a bandwidth of several hundred megahertz (Hz). Furthermore, this bandwidth needs to be shared between communication and sensing services. Therefore, the sensing signal waveforms must be designed appropriately for different sensing services to minimize their impact on communication services.

[0003] The design of sensing signal waveforms and sensing resolution algorithms must comprehensively consider the accuracy, resolution, and latency requirements of sensing services. Existing designs only consider the accuracy requirements, allocating sufficient bandwidth based on these requirements, without comprehensively considering factors such as sensing signal overhead, latency, and Quality of Service (QoS). Furthermore, the limited time-frequency domain resources of existing cellular networks cannot meet the needs of certain high-precision and high-resolution sensing services.

[0004] Therefore, how to efficiently utilize limited time-frequency domain resources to achieve high-precision and high-resolution sensing is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a method, apparatus, electronic device, and medium for determining target information of a sensing target, in order to solve the problem of how to efficiently utilize limited time-frequency domain resources to achieve high-precision and high-resolution sensing.

[0006] In a first aspect, embodiments of this application provide a method for determining target information of a perceived target, including: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, determine the echo signal components corresponding to at least one candidate information of at least one sensing target. For each of the sensing targets, the target echo signal corresponding to each echo signal component is determined based on the normalized echo signal and the echo signal components corresponding to each of the candidate information. Based on the echo signals of each target, the target information of the perceived target is determined from the candidate information.

[0007] Optionally, according to an embodiment of the present application, a method for determining target information of a sensing target, wherein determining the echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, includes: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, the initial estimated value of the target information of each sensing target is determined; Based on the initial estimate of the target information of each of the sensing targets, each candidate information of the target information of each of the sensing targets is determined; The candidate information of the target information of each of the sensing targets is traversed to determine the echo signal component corresponding to each candidate information of each of the sensing targets.

[0008] Optionally, according to an embodiment of the present application, a method for determining target information of a perceived target, wherein determining candidate information of the target information of each perceived target based on an initial estimate of the target information of each perceived target includes: For each of the perceived targets, a search space for the target information is determined based on an initial estimate of the target information of the perceived target; Based on the search space and search step size, each candidate information of the target information of the perceived target in the search space is determined.

[0009] Optionally, according to an embodiment of the present application, a method for determining target information of a perceived target, wherein determining the target echo signal corresponding to each echo signal component based on the normalized echo signal and the echo signal components corresponding to each of the candidate information includes: For each echo signal component corresponding to the candidate information, the normalized echo signal and the echo signal component are subtracted to obtain the target echo signal corresponding to the echo signal component.

[0010] Optionally, according to an embodiment of the present application, a method for determining target information of a perceived target, wherein determining the target information of the perceived target from each candidate information based on each target echo signal includes: Based on the echo signals of each target, the first radar map corresponding to each candidate information is determined for each target echo signal; Based on the peak amplitude of each of the first radar images, a target radar image with a peak amplitude less than a first preset value is determined. The candidate information corresponding to the target radar image is determined as the target information of the perceived target.

[0011] Optionally, according to an embodiment of the present application, a method for determining target information of a perceived target includes target information including distance information or speed information; and candidate information includes distance candidate information or speed candidate information.

[0012] Optionally, according to an embodiment of the present application, a method for determining target information of a perceived target further includes: Based on the first radar map corresponding to each of the target echo signals and each of the candidate information, it is determined whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one of the sensed targets or at least two of the sensed targets.

[0013] Optionally, according to an embodiment of the present application, a method for determining target information of a sensed target, wherein determining whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one sensed target or at least two sensed targets based on the first radar map corresponding to each of the target echo signals and each of the candidate information includes: For each of the first radar images, determine whether the peak value in the first radar image is less than the first preset value; If the peak value in the first radar image is less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by one of the sensed targets. If the peak value in the first radar image is not less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by at least two of the sensed targets; wherein the distance between any two of the at least two sensed targets is less than the second preset value.

[0014] Secondly, embodiments of this application also provide an electronic device, including a memory, a transceiver, and a processor: A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, determine the echo signal components corresponding to at least one candidate information of at least one sensing target. For each of the sensing targets, the target echo signal corresponding to each echo signal component is determined based on the normalized echo signal and the echo signal components corresponding to each of the candidate information. Based on the echo signals of each target, the target information of the perceived target is determined from the candidate information.

[0015] Optionally, according to an embodiment of the electronic device of this application, the step of determining the echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system includes: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, the initial estimated value of the target information of each sensing target is determined; Based on the initial estimate of the target information of each of the sensing targets, each candidate information of the target information of each of the sensing targets is determined; The candidate information of the target information of each of the sensing targets is traversed to determine the echo signal component corresponding to each candidate information of each of the sensing targets.

[0016] Optionally, according to an embodiment of the electronic device of this application, determining each candidate information of the target information of each of the sensed targets based on an initial estimate of the target information of each of the sensed targets includes: For each of the perceived targets, a search space for the target information is determined based on an initial estimate of the target information of the perceived target; Based on the search space and search step size, each candidate information of the target information of the perceived target in the search space is determined.

[0017] Optionally, according to an embodiment of the electronic device of this application, the step of determining the target echo signal corresponding to each of the echo signal components based on the normalized echo signal and the echo signal components corresponding to each of the candidate information includes: For each echo signal component corresponding to the candidate information, the normalized echo signal and the echo signal component are subtracted to obtain the target echo signal corresponding to the echo signal component.

[0018] Optionally, according to an embodiment of the electronic device of this application, determining the target information of the perceived target from the candidate information based on the target echo signals includes: Based on the echo signals of each target, the first radar map corresponding to each candidate information is determined for each target echo signal; Based on the peak amplitude of each of the first radar images, a target radar image with a peak amplitude less than a first preset value is determined. The candidate information corresponding to the target radar image is determined as the target information of the perceived target.

[0019] Optionally, in an electronic device according to an embodiment of this application, the target information includes distance information or speed information; the candidate information includes distance candidate information or speed candidate information.

[0020] Optionally, in an electronic device according to an embodiment of this application, the operation further includes: Based on the first radar map corresponding to each of the target echo signals and each of the candidate information, it is determined whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one of the sensed targets or at least two of the sensed targets.

[0021] Optionally, according to an embodiment of the electronic device of this application, determining whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one or at least two sensed targets, based on the first radar map corresponding to each of the target echo signals and each of the candidate information, includes: For each of the first radar images, determine whether the peak value in the first radar image is less than the first preset value; If the peak value in the first radar image is less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by one of the sensed targets. If the peak value in the first radar image is not less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by at least two of the sensed targets; wherein the distance between any two of the at least two sensed targets is less than the second preset value.

[0022] Thirdly, embodiments of this application also provide a target information determination device for a perceived target, comprising: The first determining module is used to determine the echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system. The second determining module is used to determine the target echo signal corresponding to each echo signal component for each of the sensed targets, based on the normalized echo signal and the echo signal components corresponding to each of the candidate information. The third determining module is used to determine the target information of the perceived target from the candidate information based on the echo signals of each target.

[0023] Optionally, the first determining module is specifically used for: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, the initial estimated value of the target information of each sensing target is determined; Based on the initial estimate of the target information of each of the sensing targets, each candidate information of the target information of each of the sensing targets is determined; The candidate information of the target information of each of the sensing targets is traversed to determine the echo signal component corresponding to each candidate information of each of the sensing targets.

[0024] Optionally, the first determining module is further configured to: For each of the perceived targets, a search space for the target information is determined based on an initial estimate of the target information of the perceived target; Based on the search space and search step size, each candidate information of the target information of the perceived target in the search space is determined.

[0025] Optionally, the second determining module is specifically used for: For each echo signal component corresponding to the candidate information, the normalized echo signal and the echo signal component are subtracted to obtain the target echo signal corresponding to the echo signal component.

[0026] Optionally, the third determining module is specifically used for: Based on the echo signals of each target, the first radar map corresponding to each candidate information is determined for each target echo signal; Based on the peak amplitude of each of the first radar images, a target radar image with a peak amplitude less than a first preset value is determined. The candidate information corresponding to the target radar image is determined as the target information of the perceived target.

[0027] Optionally, the target information includes distance information or speed information; the candidate information includes distance candidate information or speed candidate information.

[0028] Optionally, the target information determination device for the perceived target further includes: The fourth determining module is used to determine, based on the first radar map corresponding to each of the target echo signals and the candidate information, whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one of the sensed targets or at least two of the sensed targets.

[0029] Optionally, the fourth determining module is specifically used for: For each of the first radar images, determine whether the peak value in the first radar image is less than the first preset value; If the peak value in the first radar image is less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by one of the sensed targets. If the peak value in the first radar image is not less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by at least two of the sensed targets; wherein the distance between any two of the at least two sensed targets is less than the second preset value.

[0030] This application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the target information determination method for the perceived target provided in the first aspect as described above.

[0031] The target information determination method, apparatus, electronic device, and medium for sensing targets provided in this application determine echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system. For each sensing target, based on the normalized echo signal and the echo signal components corresponding to each candidate information, the target echo signal corresponding to each echo signal component is determined. Based on each target echo signal, the target information of the sensing target is determined from each candidate information. By determining the target echo signal corresponding to each echo signal component corresponding to at least one candidate information of at least one sensing target, and then determining the target information of the sensing target from each candidate information of each sensing target, the method utilizes limited time-frequency domain resources to accurately determine the target information of sensing targets that meet accuracy and delay requirements, thereby achieving high-precision resolution sensing, improving the sensing performance of the integrated sensing system, and reducing the impact on communication services. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of an OFDM inductive integrated system provided by existing technology.

[0034] Figure 2 It is a range radar image obtained when the sensing signal bandwidth is 100MHz, provided by existing technology.

[0035] Figure 3 This is one of the flowcharts illustrating the target information determination method for a perceived target provided in this application embodiment.

[0036] Figure 4 This is the first radar image corresponding to the target echo signal when the distance candidate value is 49.8 meters, as provided in the embodiments of this application.

[0037] Figure 5 This is the first radar image corresponding to the target echo signal when the distance candidate value is 49.9 meters, as provided in the embodiments of this application.

[0038] Figure 6 This is the first radar image corresponding to the target echo signal when the distance candidate value is 49.95 meters, as provided in the embodiments of this application.

[0039] Figure 7 This is the first radar image corresponding to the target echo signal when the distance candidate value is 49.99 meters, as provided in the embodiments of this application.

[0040] Figure 8 This is the first radar image corresponding to the target echo signal when the distance candidate value is 50.05 meters, as provided in the embodiments of this application.

[0041] Figure 9 This is a range radar map obtained when the sensing signal bandwidth is 100MHz, as provided in the embodiments of this application.

[0042] Figure 10 This is the first radar image corresponding to the target echo signal when the distance candidate value is 50 meters, as provided in the embodiments of this application.

[0043] Figure 11 This is the first radar image corresponding to the target echo signal when the distance candidate value is 50.5 meters, as provided in the embodiments of this application.

[0044] Figure 12 This is the first radar image corresponding to the target echo signal when the distance candidate value is 51 meters, as provided in the embodiments of this application.

[0045] Figure 13 This is the second flowchart illustrating the target information determination method for a perceived target provided in this application embodiment.

[0046] Figure 14 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0047] Figure 15 This is a schematic diagram of the target information determination device for sensing targets provided by the present invention. Detailed Implementation

[0048] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0049] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0051] To facilitate a clearer understanding of the various embodiments of this application, some relevant background knowledge will be introduced as follows.

[0052] The International Telecommunication Union (ITU) has identified Sensor-Integrated Communication (ISAC) as a key use case for 6G networks. This means that future 6G networks will not only need to provide communication services but also support a variety of highly demanding sensing applications. For example, applications such as gesture recognition, augmented reality, and environmental reconstruction require centimeter-level distance sensing accuracy and resolution, while remote surgery even requires millimeter-level accuracy and resolution. To meet such high requirements for distance sensing accuracy and resolution, ISAC systems require a significant amount of continuous bandwidth for sensing. However, current cellular networks can only provide several hundred megaHz of bandwidth to each operator. Furthermore, this bandwidth needs to be shared between communication and sensing services. Therefore, the sensing signal waveforms must be designed appropriately for different sensing services to minimize their impact on communication services.

[0053] Furthermore, perceived latency is also a crucial component of the Quality of Service (QoS) for perceived services, with different perceived services having varying QoS requirements. For instance, remote surgery requires extremely low perceived latency, ideally below 10 milliseconds (ms), to ensure patient safety; augmented reality typically requires latency below 20 ms to ensure the virtual object's location matches the real-world location, preventing visual discomfort for the user; gesture recognition usually requires latency below 50 ms to avoid perceived lag and impact on the user experience; while environmental reconstruction does not require real-time processing of perceived results and has very low QoS requirements, only needing to achieve latency in the 100 ms range.

[0054] Therefore, the design of sensing signal waveforms and sensing resolution algorithms must comprehensively consider the accuracy, resolution, and latency requirements of sensing services. Existing designs for sensing signal waveforms and sensing resolution algorithms only consider the accuracy requirements, allocating sufficient bandwidth based on these requirements, without comprehensively considering factors such as sensing signal overhead and QoS (Quality of Service). Furthermore, the limited time-frequency domain resources of existing cellular networks cannot meet the needs of certain high-precision and high-resolution sensing services. Therefore, how to efficiently utilize limited time-frequency domain resources to achieve high-precision and high-resolution sensing is an urgent problem to be solved.

[0055] Based on the above issues, the IDFT ranging method will be briefly introduced below. Figure 1 This is a structural diagram of an existing OFDM inductive integrated system, such as... Figure 1 As shown, the transmitter (Tx) of the integrated sensing system transmits an orthogonal frequency division multiplex (OFDM) sensing signal. After being reflected by the sensing target, the receiver (Rx) receives the echo signal and transmits it to the sensing function (SF) for processing.

[0056] If the integrated sensing system is a single-base system, then the transmitter and receiver are located in the same location. The receiver, located in the same location, shares the modulated symbol domain signal (OFDM sensing signal) transmitted by the transmitter. After undergoing Inverse Fast Fourier Transform (IFFT), insertion of a cyclic prefix (CP), and digital-to-analog conversion, the signal is transmitted by the transmitting antenna. The sensed signal is reflected by the target in space, and the echo is received by the receiving antenna. After analog-to-digital conversion, removal of the CP, and Fast Fourier Transform (FFT), a modulated symbol domain signal (echo signal) is generated at the receiving end. .

[0057] All information in an OFDM symbol is transmitted via... Transmission via subcarriers of different frequencies introduces the same time delay for the distance to the target (to be sensed) for data transmitted on different subcarriers, while the subcarrier spacing causes a linear phase shift. Therefore, the received modulation symbol domain signal can be used. (The modulation symbol domain signal corresponding to the nth subcarrier, i.e.) The linear phase shift carried by the nth row element in the equation recovers the distance to the target to be measured.

[0058] vector Divide by vector item by item The data information carried by the sensing signal (e.g., data composed of 0s and 1s) can be eliminated and represented in vector form: (1)

[0059] in, N represents the normalized echo signal. f This indicates the number of sensed signals within bandwidth B, for example, 120-480.

[0060] use Indicates the normalized echo signal The k-th element in Represented as: (2)

[0061] Where L represents the number of targets to be perceived, A l Indicates the first l The attenuation factor R of the echo from the target to be sensed. l Indicates the first l The distance to the target to be perceived, c0 represents the speed of light, z k This represents Additive White Gaussian Noise (AWGN) channel noise. This indicates the subcarrier spacing.

[0062] The carried linear phase shift contains the range information of the target to be measured, which can be obtained based on the inverse discrete Fourier transform (IDFT): (3)

[0063] in, This indicates the result of the IDFT.

[0064] IDFT results in N f Among the sampling points, there will be l A peak exists at each sampling point location; the sampling point number is used. From formula (4), we can obtain the first... l Distance estimates of each target to be perceived .

[0065] (4)

[0066] in, Indicates distance resolution , It represents the minimum distance between two targets that can be distinguished by a synesthetic system.

[0067] because It is the sampling point number of IDFT, therefore It is a non-negative integer. As can be seen from formula (4), the distance estimate obtained based on IDFT... It can only be distance resolution Integer multiples of.

[0068] To facilitate the subsequent explanation of the technical solution provided in this application, we assume a sensor-integrated scenario with one sensor-integrated base station and two targets to be sensed (i.e., L=2). Table 1 shows the parameters of the sensor-integrated base station, including a carrier frequency of 28GHz, a bandwidth B of 100-400MHz, and a subcarrier spacing of... The frequency is 120kHz, the number of subcarriers is 834-3360, and the number of sensed signals N within the bandwidth B is [missing information]. f It ranges from 120 to 480.

[0069] Table 1. Parameters of the integrated sensor base station

[0070] The bandwidth used by the base station for sensing can be flexibly selected between 100MHz and 400MHz. One target to be sensed (target 1) is 50 meters away from the base station, and another target to be sensed (target 2) is 30 meters away from the base station. Figure 2 This is a range radar image obtained when the sensing signal bandwidth is 100MHz, provided by existing technology, such as... Figure 2 As shown, the existing technology is the IDFT algorithm, and target 1 is located at the sampling point. A peak is formed at the sampling point; Target 2 is located at the sampling point. Another peak forms at that point. Distance resolution The distance is 1.5 meters. The estimated distance to target 1 can be obtained from formula (4) above. The distance to target 2 is estimated to be 49.5 meters. The distance is 30 meters. Therefore, the distance estimation error for target 1 is relatively large, reaching 0.5 meters.

[0071] Similarly, when the sensing signal bandwidth is 400MHz, in the range radar map obtained using the IDFT algorithm, target 1 is located at the sampling point. A peak is formed at the sampling point location, and target 2 is at the sampling point location. Another peak forms at that point. Distance resolution The distance is 0.375 meters. The estimated distance to target 1 can be obtained from formula (4) above. The distance to target 2 is estimated to be 49.875 meters. The distance is 30 meters. Therefore, compared to a 100MHz bandwidth, the distance estimation error for target 1 is reduced when the bandwidth is 400MHz, but the error value still reaches 0.125 meters.

[0072] Therefore, this application provides a method for determining target information of a sensing target, which involves the design of the waveform of a transmitted sensing signal and the determination of the target information of the sensing target. The design of the sensing signal waveform includes the design of the bandwidth of the sensing signal or the design of the duration of the sensing signal. The target information of the sensing target includes the distance of the sensing target or the speed of the sensing target. The bandwidth design of the sensing signal is used to determine the distance of the sensing target, and the duration design of the sensing signal is used to determine the speed of the sensing target.

[0073] This method is applied to a sensing-integrated scenario, which includes one sensing-integrated base station and at least one sensing target. Operating in single-base mode, the sensing-integrated base station transmits sensing signals according to bandwidth or signal duration requirements. After the sensing signals are reflected by multiple sensing targets, the sensing-integrated base station receives the echo signals. When the sensing-integrated base station determines the distance to the sensing target (i.e., ranging), the sensing signal requires a certain frequency bandwidth, and its echo signal is a superposition of multiple sinusoidal signals of different frequencies. The frequency of each sinusoidal signal is determined by the distance between the corresponding sensing target and the base station. When the sensing-integrated base station determines the speed of the sensing target (i.e., speed measurement), the sensing signal requires a certain duration, and its echo signal is a superposition of multiple sinusoidal signals of different frequencies. The frequency of each sinusoidal signal is determined by the Doppler frequency domain of the corresponding sensing target relative to the base station.

[0074] Figure 3 This is one of the flowcharts illustrating the target information determination method for a perceived target provided in this application embodiment, such as... Figure 3 As shown, the method includes the following steps 301-303.

[0075] Step 301: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, determine the echo signal components corresponding to at least one candidate information of at least one sensing target.

[0076] It should be noted that the target information determination method for sensing targets provided in this application embodiment can be applied in a sensor-integrated system scenario. The execution subject of this method can be a target information determination device for sensing targets, such as an electronic device, a sensing network element in a sensor-integrated system, or a control module in the target information determination device for sensing targets used to execute the target information determination method for sensing targets.

[0077] Specifically, in the integrated sensing system, the sensing network element receives a sensing service request, such as a distance sensing service request or a speed sensing service request. The distance sensing service request includes the distance sensing service category and the required QoS. For example, the distance sensing service category might be an augmented reality sensing request with a distance accuracy requirement of 0.01 meters and a sensing latency requirement of 20ms; or it might be an environment reconstruction sensing request with a distance accuracy requirement of 0.01 meters and a sensing latency requirement of 100ms. The speed sensing service request includes the speed sensing service category and the required QoS.

[0078] Based on the time-frequency domain resources of the integrated sensing base station and its own computing capabilities, the sensing network element rationally configures the sensing signals and sends these configured signals to the integrated sensing base station. The time-frequency domain resources include broadband resources or time-domain resources. The waveform of the sensing signal (i.e., the sensing signal bandwidth) is configured according to the broadband resources, or the duration of the sensing signal is configured according to the time-domain resources. For example, when the distance sensing service request is an environment reconstruction sensing request, the sensing signal bandwidth is configured to 100MHz; when the sensing service request is an augmented reality sensing request, the sensing signal bandwidth is configured to 400MHz.

[0079] In the integrated sensing system, the integrated sensing base station transmits sensing signals according to the sensing signals configured by the sensing network element, i.e., the bandwidth or duration of the configured sensing signals. After the sensing signals are reflected by multiple sensing targets, the integrated sensing base station receives the echo signals and transmits them to the sensing network element. The sensing network element receives the echo signals, and based on the echo signals and the sensing signals, the normalized echo signal corresponding to the sensing signals can be determined using the above formula (1). .

[0080] The sensing network element is based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system. It is possible to determine the echo signal components corresponding to at least one candidate information of at least one sensed target. The candidate information includes distance candidate information or velocity candidate information. The candidate information is determined based on the initial estimate of the target information of the perceived target. The initial estimate includes the distance estimate or velocity estimate, which is determined based on the normalized echo signal.

[0081] Based on the above formulas (1) and (2), let ,but ,Will The estimated label is Perceive the target l The amplitude of the resulting echo signal is denoted as Therefore, the first l The echo signal components caused by a single sensed target can be represented as follows: .

[0082] Step 302: For each of the sensing targets, based on the normalized echo signal and the echo signal components corresponding to each of the candidate information, determine the target echo signal corresponding to each echo signal component.

[0083] Specifically, for each sensing target, based on the normalized echo signal and the echo signal components corresponding to each candidate information. The target echo signal corresponding to each echo signal component can be determined separately. .

[0084] Step 303: Based on the echo signals of each target, determine the target information of the perceived target from the candidate information.

[0085] Specifically, target information includes distance or velocity information. Based on the echo signals from each target, the target information of the perceived target can be determined from the candidate information.

[0086] The target information determination method for sensing targets provided in this application determines echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system. For each sensing target, based on the normalized echo signal and the echo signal components corresponding to each candidate information, the target echo signal corresponding to each echo signal component is determined. Based on each target echo signal, the target information of the sensing target is determined from each candidate information. By determining the target echo signal corresponding to each echo signal component corresponding to at least one candidate information of at least one sensing target, and then determining the target information of the sensing target from each candidate information of each sensing target, the method utilizes limited time-frequency domain resources to accurately determine the target information of sensing targets that meet accuracy and delay requirements, thereby achieving high-precision resolution sensing, improving the sensing performance of the integrated sensing system, and reducing the impact on communication services.

[0087] Optionally, the specific implementation of step 301 above includes: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, an initial estimate of the target information of each sensing target is determined; based on the initial estimate of the target information of each sensing target, candidate information of the target information of each sensing target is determined; and by traversing the candidate information of the target information of each sensing target, the echo signal component corresponding to each candidate information of each sensing target is determined.

[0088] Specifically, based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, the initial estimate of the target information for each sensing target can be determined. When the target information is distance information, performing IDFT or IFFT on the normalized echo signal will converge the sinusoidal signal energy of different frequencies caused by multiple sensing targets onto different IDFT or IFFT frequency bins, forming multiple peaks. When the target information is velocity information, performing DFT or FFT on the normalized echo signal will converge the sinusoidal signal energy of different frequencies caused by multiple sensing targets onto different DFT or FFT bins, forming multiple peaks.

[0089] The initial estimate of the distance or velocity of each sensing target can be calculated using the bin number of the peak (i.e., the sampling point number). Since the FFT bin is a discrete positive integer, the initial estimate of the distance or velocity of each sensing target calculated by the above algorithm has an error. However, the above algorithm can obtain a rough estimate of the distance or velocity. For example, the initial estimate of the distance information of each sensing target can be determined by the above formulas (1)-(4).

[0090] Based on the initial estimates of the target information for each perceived target, candidate information for each perceived target can be determined. For example, in Figure 2 In the sample, the peak value generated by target 1 is located at sampling point number 33, and the true frequency peak value of target 1 is... Between sampling point 32 and sampling point 34, the above formula (4) can be used to determine that the real distance information is in the range of 48 meters to 51 meters. In the range of 48 meters to 51 meters, the candidate information of the target information of the perceived target can be determined as {48 meters, 48.01 meters, 48.02 meters, ..., 50.99 meters, 51 meters}.

[0091] Iterate through the candidate information of the target information for each perceived target, and substitute the candidate information into... This allows us to determine the echo signal components corresponding to each candidate information of each perceived target, where... .

[0092] Optionally, determining the candidate information of the target information of each of the perceived targets based on the initial estimate of the target information of each of the perceived targets includes: For each of the sensing targets, a search space for the target information is determined based on an initial estimate of the target information of the sensing target; and candidate information for the target information of the sensing target in the search space is determined based on the search space and the search step size.

[0093] Specifically, for each perceived target, based on the initial estimate of the target information of the perceived target, the search space of the target information can be determined. The size of the search space must ensure that the real distance or real speed is within the distance search space or speed search space. Then, based on the search space and the search step size, each candidate information of the target information of the perceived target in the search space can be determined.

[0094] by Figure 2 For example, given two sensing targets, the initial estimated distance to target 1 is 49.5 meters. The peak value corresponding to 49.5 meters is at sampling point number 33. Therefore, the actual frequency peak value is between 32 and 34, and the actual distance is within the range of 48 to 51 meters. Thus, the search space is 48 to 51 meters. The sensing network element selects an appropriate search step size based on the accuracy requirements. For example, based on the distance accuracy requirements, setting the search step size to 0.01 meters determines that the candidate distance values ​​included in the distance search space are {48 meters, 48.01 meters, 48.02 meters, ..., 50.99 meters, 51 meters}.

[0095] The target information determination method for sensing targets provided in this application embodiment determines an initial estimate of the target information of each sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system; for each sensing target, a search space for the target information is determined based on the initial estimate of the target information of the sensing target; based on the search space and the search step size, candidate information of the target information of the sensing target in the search space is determined; and each candidate information of the target information of each sensing target is traversed to determine the echo signal component corresponding to each candidate information of each sensing target, thereby achieving accurate determination of the target information of sensing targets that meets the accuracy and delay requirements using limited time and frequency domain resources, thus achieving high-precision resolution sensing, improving the sensing performance of the integrated sensing system, and reducing the impact on communication services.

[0096] Optionally, the specific implementation of step 302 above includes: For each echo signal component corresponding to the candidate information, the normalized echo signal and the echo signal component are subtracted to obtain the target echo signal corresponding to the echo signal component.

[0097] Specifically, for each candidate information corresponding to the echo signal component, the normalized echo signal can be... and echo signal components Subtraction, that is, removing the echo signal component from the echo signal, yields the target echo signal corresponding to the echo signal component. Then, based on the echo signals of each target, the target information of the perceived target is determined from each candidate information.

[0098] It should be noted that when the distance or velocity candidate value is very close to the true distance or velocity value, the normalized echo signal is used. and echo signal components Subtraction can largely eliminate the echo signal component from the normalized echo signal.

[0099] Optionally, the specific implementation of step 303 above includes: Based on the echo signals of each target, a first radar image corresponding to each candidate information is determined for each target echo signal; based on the peak amplitude in each first radar image, a target radar image with a peak amplitude less than a first preset value is determined; and the candidate information corresponding to the target radar image is determined as the target information of the perceived target.

[0100] Specifically, based on the echo signals of each target, a first radar image corresponding to each target echo signal in each candidate information can be determined. For example, by performing IDFT operations on each target echo signal, a first radar image corresponding to each echo signal in each candidate information can be obtained. Based on the peak amplitude in each first radar image, a target radar image with a peak amplitude less than a first preset value can be determined; the candidate information corresponding to the target radar image is then determined as the target information of the perceived target.

[0101] For example, Figure 4 This is the first radar image corresponding to the target echo signal when the distance candidate value is 49.8 meters, as provided in the embodiments of this application. Figure 5 This is the first radar image corresponding to the target echo signal when the distance candidate value is 49.9 meters, as provided in the embodiments of this application. Figure 6 This is the first radar image corresponding to the target echo signal when the distance candidate value is 49.95 meters, as provided in the embodiments of this application. Figure 7 This is the first radar image corresponding to the target echo signal when the distance candidate value is 49.99 meters, as provided in the embodiments of this application. Figure 8 This is the first radar image corresponding to the target echo signal when the distance candidate value is 50.05 meters, as provided in the embodiments of this application. Figures 4-8 As shown, the peak amplitude caused by target 1 decreases as the candidate distance value gets closer to the true value (50 meters). When the candidate distance value is 49.99 meters, the peak amplitude caused by target 1 is already smaller than the noise value, and the peak caused by target 1 is no longer visible. Therefore, the candidate distance value of 49.99 meters is selected as the final distance estimation result, and the distance estimation error is 0.01 meters.

[0102] The target information determination method for a sensed target provided in this application embodiment determines, based on each target echo signal, a first radar image corresponding to each candidate information; based on the peak amplitude in each first radar image, a target radar image with a peak amplitude less than a first preset value is determined; and the candidate information corresponding to the target radar image is determined as the target information of the sensed target. By using the first radar images corresponding to each candidate information, the smaller the amplitude of the peak value corresponding to the sensed target, the closer the estimated echo signal component's corresponding candidate information is to the true value, thus achieving accurate determination of the target information of the sensed target, thereby achieving high-precision resolution sensing, improving the accuracy of target information, and enhancing the sensing performance of the integrated sensing system, while also reducing the impact on communication services.

[0103] Optionally, based on the first radar map corresponding to each of the target echo signals and each of the candidate information, it is determined whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one of the sensed targets or at least two of the sensed targets.

[0104] Specifically, when the radial distance between two sensing targets is close, the integrated sensing system cannot identify the existence of two sensing targets; or when the radial movement distance of a target is less than a preset value, the integrated sensing system cannot measure the distance change of that sensing target, where the preset value is the distance resolution. For example, in the above scenario, add another sensing target: one target (target 1) is 50 meters away from the base station, one target (target 2) is 30 meters away, and one target (target 3) is 51 meters away. Because the distance between target 1 and target 3 is less than the distance resolution, the integrated sensing system with a bandwidth of 100MHz cannot distinguish between target 1 and target 3. In this scenario, the base station generates a radar image. Figure 9 This is a range radar image obtained when the sensing signal bandwidth is 100MHz, as provided in the embodiments of this application. Figure 9 As shown, it is similar to Figure 2 The radar images shown are almost identical. That is, because the distance between target 1 and target 3 is less than the range resolution, the normalized echo corresponding to the sensing signal generates a peak at sampling point number 33, which causes the base station to be unable to distinguish between target 1 and target 3.

[0105] Therefore, based on the first radar chart corresponding to each candidate information, it can be determined whether the peak in each radar chart is caused by one sensing target or at least two sensing targets.

[0106] Optionally, determining whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one or at least two sensed targets, based on the first radar map corresponding to each of the target echo signals and each of the candidate information, includes: For each of the first radar images, determine whether the peak value in the first radar image is less than the first preset value; if the peak value in the first radar image is less than the first preset value, determine that the peak value in the second radar image corresponding to the normalized echo signal is caused by one of the sensed targets; if the peak value in the first radar image is not less than the first preset value, determine that the peak value in the second radar image corresponding to the normalized echo signal is caused by at least two sensed targets; wherein, the distance between any two of the at least two sensed targets is less than the second preset value.

[0107] Specifically, for each first radar chart, it is determined whether the peak value in the first radar chart is less than a first preset value; if the peak value in the first radar chart is less than the first preset value, such as Figure 7 As shown, it is determined that the peak value in the first radar image is caused by one sensing target; if the peak value in the first radar image is not less than a first preset value, it can be determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by at least two sensing targets; wherein, the distance between any two sensing targets is less than a second preset value, and the second preset value is the range resolution.

[0108] For example, Figure 10 This is the first radar image corresponding to the target echo signal when the distance candidate value is 50 meters, as provided in the embodiments of this application. Figure 11 This is the first radar image corresponding to the target echo signal when the distance candidate value is 50.5 meters, as provided in the embodiments of this application. Figure 12 This is the first radar image corresponding to the target echo signal when the distance candidate value is 51 meters, as provided in the embodiments of this application. Figures 10-12 As shown, in Figure 10 middle, Figure 10 The radar image showing complete cancellation of the echo signal from target 1 shows that the peak at bin 34 is caused by the echo signal from target 3; Figure 12 middle, Figure 12 In the radar chart showing the complete elimination of the echo signal from target 3, the peak at position bin 33 is caused by the echo signal from target 1; Figure 11 In the scenario where the distance candidate value is the median distance between target 1 and target 3 (50.5 meters), a significant peak still exists at position bin33. Therefore, in scenarios where two sensed targets are very close, the generated radar map cannot resemble the radar map generated for a single sensed target scenario (e.g., ...). Figure 7 (As shown in the radar diagram), the echo signal classification is completely eliminated.

[0109] From the above, as Figures 10-12 The differences shown in the radar charts indicate that... Figure 2 (or Figure 9 In the radar image shown, is the peak at bin33 caused by a single sensing target or by two sensing targets? If it is determined to be caused by two sensing targets, the distances between the two targets can be calculated separately. Figure 10 and Figure 12 The sampling point number corresponding to the peak in the radar image was calculated, that is, the distance of target 1 is 49.5 meters and the distance of target 3 is 51 meters.

[0110] The target information determination method for sensing targets provided in this application embodiment achieves an accurate determination of whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one or at least two sensing targets by using the first radar map corresponding to each of the target echo signals in the first radar map corresponding to each of the candidate information. This enables super-resolution ranging or velocity measurement, improves the sensing performance of the integrated sensing system, and reduces the impact on communication services.

[0111] Figure 13 This is a second flowchart illustrating the target information determination method for a perceived target provided in this application embodiment, as shown below. Figure 13 As shown, the method includes steps 1301-1308.

[0112] Step 1301: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, determine the initial estimate of the target information of each sensing target.

[0113] Step 1302: For each perceived target, determine the search space of the target information based on the initial estimate of the target information of the perceived target.

[0114] Step 1303: Based on the search space and search step size, determine each candidate information of the target information of the perceived target in the search space.

[0115] Step 1304: Traverse the candidate information of the target information of each sensing target and determine the echo signal component corresponding to each candidate information of each sensing target.

[0116] Step 1305: For each candidate information corresponding to the echo signal component, subtract the normalized echo signal from the echo signal component to obtain the target echo signal corresponding to the echo signal component.

[0117] Step 1306: Based on the echo signals of each target, determine the first radar image corresponding to each candidate information for each target echo signal.

[0118] Step 1307: Based on the peak amplitude of each first radar image, determine the target radar image whose peak amplitude is less than the first preset value.

[0119] Step 1308: The candidate information corresponding to the target radar image is determined as the target information of the perceived target.

[0120] The target information determination method for perceived targets provided in this application will be further explained through specific embodiments.

[0121] Example 1: Distance measurement process, which is the process of determining the distance information of the perceived target.

[0122] Since the distance estimation error of target 1 is large in the prior art, the ranging process provided in the embodiment of this application will be described by the perception processing flow of target 1. Assume that there is a sensing integrated base station and two targets to be sensed (i.e., L=2) in a sensing integrated scenario. One target to be sensed (target 1) is 50 meters away from the base station, and the other target to be sensed (target 2) is 30 meters away from the base station.

[0123] Step 1: The sensing network element receives a distance sensing service request, which includes the distance sensing service type and the required QoS. For example, the distance sensing service type is an augmented reality sensing request, with a distance accuracy requirement of 0.01 meters and a sensing latency requirement of 20ms; or the distance sensing service type is an environment reconstruction sensing request, with a distance accuracy requirement of 0.01 meters and a sensing latency requirement of 100ms. The sensing network element configures the sensing signal waveform appropriately based on the bandwidth resources of the integrated sensing base station and its own computing capabilities. For example, when the sensing service request is an environment reconstruction sensing request, the sensing signal bandwidth is configured to 100MHz; when the sensing service request is an augmented reality sensing request, the sensing signal bandwidth is configured to 400MHz. The sensing network element sends the configured sensing signal waveform to the integrated sensing base station.

[0124] Step Two: Assuming the distance sensing service category in Step One is an environment reconstruction sensing request, the integrated sensing base station transmits OFDM sensing signals (modulated symbol domain signals) with a sensing signal waveform bandwidth of 100MHz. After being reflected by multiple sensing targets, the sensing echo signal (the receiving end modulated symbol domain signal) is received at the receiving end. The integrated sensing base station will modulate the symbol domain signal. Modulated symbol domain signal at the receiving end Transmitted to the sensing network element SF.

[0125] Step 3: The sensing network element SF generates a normalized echo signal. It is expressed by formula (5), where let , .

[0126] (5)

[0127] Step 4: The sensing network element generates a normalized echo signal. The IDFT algorithm is used to calculate the range radar image, the number of sensed targets, and preliminary estimates of the distance to each sensed target. Figure 2 For example, there are two sensing targets. The initial estimated distance to target 1 is 49.5 meters, and the initial estimated distance to target 2 is 30 meters. Moreover, the initial estimated distance to target 1 has a larger error.

[0128] Step 5: The sensing network element estimates the search space (distance range) and peak distance amplitude of target 1. The distance range can be determined by the peak sampling points. For example, in... Figure 2 In the sample, the initial estimated distance to target 1 is 49.5 meters. The peak value is located at sampling point number 33. Therefore, the true frequency peak value... Between sampling point 32 and sampling point 34, the actual distance is within the range of 48 meters to 51 meters, meaning the search space is 48-51 meters. The estimated label is .according to Figure 2 The peak amplitude caused by target 1 can be used to estimate the amplitude of the echo signal caused by target 1. Therefore, in In the equation, the echo signal component caused by target 1 can be expressed as: , It is expressed using formula (6).

[0129] (6)

[0130] Step Six: The sensing element selects an appropriate search step size based on the distance accuracy requirements. For example, a search step size of 0.01 meters aligns with the distance accuracy requirements. The distance search space contains candidate distance values ​​{48 meters, 48.01 meters, 48.02 meters, ..., 50.99 meters, 51 meters}. Due to the sensing signal bandwidth of only 100MHz, the resolution is low, resulting in a large number of candidate distance values ​​(up to 300) in the search space.

[0131] Step 7: The sensing element substitutes each distance candidate value contained in the distance search space into formula (6) to obtain... Then for each Calculate the target echo signal Then for each Execute the IDFT ranging algorithm to generate the corresponding first radar image. Figures 4 to 8 The images show the first radar images corresponding to the target echo signals at distances of 49.8 meters, 49.9 meters, 49.95 meters, 49.99 meters, and 50.05 meters, respectively. Figures 4-8As can be seen, the peak amplitude caused by target 1 decreases as the candidate distance value gets closer to the true value (50 meters). When the candidate distance value is 49.99 meters, the peak amplitude caused by target 1 is already smaller than the noise value, and the peak caused by target 1 is no longer visible. Therefore, the candidate distance value corresponding to the smallest peak amplitude at sampling point number 33 is taken as the final distance estimation result. Thus, the candidate distance value of 49.99 meters is selected as the final distance estimation result, and the distance estimation error is 0.01 meters.

[0132] Because the sensing signal bandwidth is only 100MHz, the resolution is low, and the search space contains many distance candidate values, resulting in a long execution time for step seven. However, environmental reconstruction does not have high requirements for sensing latency. Therefore, this process can achieve high-precision distance sensing using a smaller bandwidth and a longer signal processing time.

[0133] Consider another scenario: Suppose that in step one, the distance sensing service request received by the sensing network element is an augmented reality (AR) sensing request. AR services have high requirements for sensing accuracy and latency. In this case, the sensing network element should be configured with a sensing signal bandwidth of 400MHz, the maximum available bandwidth of the system. When the sensing signal bandwidth is 400MHz, in step three above, using the IDFT algorithm, the initial distance estimate for target 1 is 49.875 meters, meaning the generated peak value is at sampling point number 133. In step five above, the true frequency peak value... Between sampling point 132 and sampling point 134, the actual distance is within the range of 49.5 meters to 50.25 meters, meaning the search space is 49.5-50.25 meters. In step six above, the candidate distance values ​​included in the search space are {49.5 meters, 49.51 meters, 49.52 meters, ..., 50.24 meters, 50.25 meters}. Because the sensing signal bandwidth is as high as 400MHz, the resolution is high, and the number of candidate distance values ​​in the search space is relatively small, only 75. Therefore, in the search process of step seven above, a maximum of only 75 correlation processes are needed to obtain the final distance estimation result with a distance estimation error of 0.01 meters. Compared to the processing process using a 100MHz bandwidth, the number of search iterations is reduced by 75%, thus significantly reducing the latency in obtaining the sensing results.

[0134] Example 2: Super-resolution processing flow.

[0135] This application can achieve super-resolution performance. As is well known, the distance resolution of an OFDM waveform sensing integrated system is... (c0 is the speed of light, B is the sensing signal bandwidth). When the sensing signal bandwidth is 100MHz, the distance resolution is 1.5 meters. When the radial distance between two sensing targets is less than 1.5 meters, the integrated sensing system cannot identify the existence of two sensing targets; or when a sensing target moves radially less than 1.5 meters, the integrated sensing system cannot measure the distance change of the sensing target.

[0136] To illustrate the resolution performance of the ranging method of this application, an additional target is added to the scenario described in Embodiment 1 above. Specifically, target 1 is 50 meters from the base station, target 2 is 30 meters from the base station, and target 3 is 51 meters from the base station. Since the distance between target 1 and target 3 is less than the range resolution, the 100MHz bandwidth integrated sensing system cannot distinguish between target 1 and target 3. In this scenario, the range radar map generated by the base station is as follows: Figure 9 As shown, it is similar to Figure 2 The distance radar charts shown are almost identical. That is, because the distance between target 1 and target 3 is less than the distance resolution, the sensing signal echo generates a peak, causing the base station to be unable to distinguish between the two sensing targets, i.e., it cannot distinguish between target 1 and target 3.

[0137] To achieve super-resolution ranging performance, the process flow of this embodiment is as follows.

[0138] Step 1: Generate a range radar map using the IFFT algorithm, such as... Figure 9 As shown.

[0139] Step Two: Using the distance search space from Step Six of Embodiment One above, select an appropriate search step size based on the distance accuracy requirements. For example, setting the search step size to 0.01 meters aligns with the distance accuracy requirements. The distance candidate values ​​included in the distance search space are {48 meters, 48.01 meters, 48.02 meters, ..., 50.99 meters, 51 meters}.

[0140] Step 3: Perform the operation in step 7 of Example 1 to obtain multiple first radar images. When the candidate distance values ​​are 50 meters, 50.5 meters, and 51 meters, the obtained first radar images are as follows: Figures 10-12 As shown.

[0141] Step 4: If the peak value corresponding to the target cannot be sufficiently suppressed after traversing all distance candidate values, it can be determined that the peak value that cannot be sufficiently suppressed is caused by the echoes of two or more sensed targets; if a certain distance candidate value can be used to sufficiently suppress the peak value corresponding to the target after traversing all distance candidate values, it can be determined that the peak value is caused by the echo of one target.

[0142] Super-resolution principle: Because the distance between target 1 and target 3 is very small, the echo signals from target 1 and target 3 are sinusoidal signals with very similar frequencies. When performing step three above, only the echo signal caused by one of the targets can be eliminated at most, but both sinusoidal signals cannot be eliminated. Figure 10 In the first radar image designed to completely eliminate the echo signal of target 1, the peak at position bin34 is caused by the echo signal of target 3; Figure 12 In the radar chart showing the complete elimination of the echo signal from target 3, the peak at bin 33 is caused by the echo signal from target 1. However, it is consistently impossible to completely eliminate the echo signals from both detected targets, for example, as... Figure 11 As shown, when the distance candidate value is the median distance between target 1 and target 3 (50.5 meters), a significant peak still exists at position bin33. Therefore, in scenarios where two targets are very close together, the first radar image generated using the above method cannot compare to radar images generated for single-target scenarios (such as...). Figure 7 (As shown in the radar diagram), the target echo signal is completely eliminated.

[0143] Based on the differences in the radar charts above, we can conclude that Figure 2 (or Figure 9 In the radar image shown, is the peak at bin33 caused by a single target or by two targets? Once it's determined to be caused by two detected targets, the distances between the two targets can be calculated separately. Figure 10 and Figure 12 The sampling point numbers corresponding to the peaks in the radar chart are calculated, i.e., the distance of target 1 is 49.5 meters and the distance of target 3 is 51 meters.

[0144] In summary, the method proposed in this application can achieve super-resolution ranging.

[0145] Example 3: Speed ​​measurement processing flow, i.e., the process of determining the speed information of the sensed target.

[0146] The process described in Example 1 can also be used to improve the speed measurement accuracy and control of the DFT velocimetry algorithm, and to obtain the time delay for speed estimation. Some sensing applications, such as highway vehicle speed sensing, have high requirements for both speed accuracy and sensing time delay. However, some sensing applications, such as environmental monitoring, such as measuring water flow speed, have speeds that change very slowly over time. Therefore, they only require high speed sensing accuracy, while having lower requirements for time delay.

[0147] For sensing services with high requirements for both speed accuracy and sensing latency, sensing network elements can be configured with longer-duration sensing signals, thereby reducing the number of speed candidate values ​​in the search space and achieving the requirements of high speed sensing accuracy and low latency. For sensing services with high speed accuracy requirements but low latency requirements, sensing network elements can be configured with shorter-duration sensing signals, thereby reducing sensing signal overhead. High speed accuracy is achieved by searching through a large number of speed candidate values.

[0148] Step 1: The sensing network element receives a speed sensing service request, which includes the speed sensing service type and the required QoS. Based on the time-domain resources of the integrated sensing base station and its own computing capabilities, the sensing network element appropriately configures the duration of the sensing signal.

[0149] Step 2: The integrated sensing base station transmits OFDM sensing signals (modulated symbol domain signals) according to the sensing signal duration configured in the sensing network element. After being reflected by multiple sensing targets, the sensing echo signal (the receiving end modulated symbol domain signal) is received at the receiving end. The integrated sensing base station will modulate the symbol domain signal. Modulated symbol domain signal at the receiving end Transmitted to the sensing network element SF.

[0150] Step 3: The sensing network element SF generates a normalized sensing signal echo matrix. .

[0151] Step 4: The sensing network element generates a normalized echo signal. The DFT algorithm is used to calculate the velocity radar image, the number of sensed targets, and the preliminary velocity estimate of each sensed target.

[0152] Step 5: The sensing network element estimates the search space (velocity range) and peak velocity amplitude of the sensed target. The velocity range can be determined by the peak velocity sampling points.

[0153] Step 6: The sensing network element selects an appropriate speed search step size based on the speed accuracy requirements and generates multiple speed candidate values.

[0154] Step 7: The sensing network element substitutes each candidate velocity value contained in the distance search space into formula (6) to obtain the echo signal component; then subtracts each echo signal component from the normalized echo signal to obtain the target echo signal; then performs the DFT velocity measurement algorithm on each target echo signal to generate the corresponding first radar image. Among them, the candidate velocity value corresponding to the first radar image with the smallest velocity peak amplitude is determined as the final velocity estimate.

[0155] The method provided in this application, at the cost of some computational complexity, can effectively improve the accuracy and resolution of the IDFT ranging method under limited sensing signal bandwidth. For example, under 100MHz bandwidth conditions, existing technologies can only achieve ranging accuracy at the decimeter level, while the method provided in this application can improve the ranging accuracy to the centimeter level. At the same time, the method provided in this application can also effectively improve the accuracy and resolution of the DFT velocimetry method.

[0156] Figure 14 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application, such as... Figure 14 As shown, the electronic device includes: a memory 1420, a transceiver 1400, and a processor 1410, wherein: Memory 1420 is used to store computer programs; transceiver 1400 is used to send and receive data under the control of the processor; processor 1410 is used to read the computer programs in the memory and perform the following operations: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, determine the echo signal components corresponding to at least one candidate information of at least one sensing target. For each of the sensing targets, the target echo signal corresponding to each echo signal component is determined based on the normalized echo signal and the echo signal components corresponding to each of the candidate information. Based on the echo signals of each target, the target information of the perceived target is determined from the candidate information.

[0157] Specifically, transceiver 1400 is used to receive and send data under the control of processor 1410.

[0158] Among them, Figure 14 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1410) and memory (memory 1420). The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1400 can be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor 1410 is responsible for managing the bus architecture and general processing, and the memory 1420 can store data used by the processor 1410 during operation.

[0159] The processor 1410 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0160] Optionally, determining the echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system includes: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, the initial estimated value of the target information of each sensing target is determined; Based on the initial estimate of the target information of each of the sensing targets, each candidate information of the target information of each of the sensing targets is determined; The candidate information of the target information of each of the sensing targets is traversed to determine the echo signal component corresponding to each candidate information of each of the sensing targets.

[0161] Optionally, determining the candidate information of the target information of each of the perceived targets based on the initial estimate of the target information of each of the perceived targets includes: For each of the perceived targets, a search space for the target information is determined based on an initial estimate of the target information of the perceived target; Based on the search space and search step size, each candidate information of the target information of the perceived target in the search space is determined.

[0162] Optionally, determining the target echo signal corresponding to each echo signal component based on the normalized echo signal and the echo signal components corresponding to each of the candidate information includes: For each echo signal component corresponding to the candidate information, the normalized echo signal and the echo signal component are subtracted to obtain the target echo signal corresponding to the echo signal component.

[0163] Optionally, determining the target information of the perceived target from the candidate information based on the target echo signals includes: Based on the echo signals of each target, the first radar map corresponding to each candidate information is determined for each target echo signal; Based on the peak amplitude of each of the first radar images, a target radar image with a peak amplitude less than a first preset value is determined. The candidate information corresponding to the target radar image is determined as the target information of the perceived target.

[0164] Optionally, the target information includes distance information or speed information; the candidate information includes distance candidate information or speed candidate information.

[0165] Optionally, the operation further includes: Based on the first radar map corresponding to each of the target echo signals and each of the candidate information, it is determined whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one of the sensed targets or at least two of the sensed targets.

[0166] Optionally, determining whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one or at least two sensed targets, based on the first radar map corresponding to each of the target echo signals and each of the candidate information, includes: For each of the first radar images, determine whether the peak value in the first radar image is less than the first preset value; If the peak value in the first radar image is less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by one of the sensed targets. If the peak value in the first radar image is not less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by at least two of the sensed targets; wherein the distance between any two of the at least two sensed targets is less than the second preset value.

[0167] It should be noted that the electronic device provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail.

[0168] Figure 15 This is a schematic diagram of the target information determination device for sensing targets provided in the embodiments of this application, as shown below. Figure 15 As shown, the target information determination device 1500 for sensing targets includes a first determination module 1501, a second determination module 1502, and a third determination module 1503; wherein,

[0169] The first determining module 1501 is used to determine the echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system. The second determining module 1502 is used to determine the target echo signal corresponding to each echo signal component for each of the sensed targets, based on the normalized echo signal and the echo signal components corresponding to each of the candidate information. The third determining module 1503 is used to determine the target information of the perceived target from the candidate information based on the target echo signals of each target.

[0170] The target information determination device for sensing targets provided in this application determines echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system. For each sensing target, based on the normalized echo signal and the echo signal components corresponding to each candidate information, the target echo signal corresponding to each echo signal component is determined. Based on each target echo signal, the target information of the sensing target is determined from each candidate information. By determining the target echo signal corresponding to the echo signal component corresponding to at least one candidate information of at least one sensing target, and then determining the target information of the sensing target from each candidate information of each sensing target, the device achieves accurate determination of the target information of sensing targets that meets the accuracy and delay requirements using limited time-frequency domain resources. This enables high-precision resolution sensing, improves the sensing performance of the integrated sensing system, and reduces the impact on communication services.

[0171] Optionally, the first determining module 1501 is specifically used for: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, the initial estimated value of the target information of each sensing target is determined; Based on the initial estimate of the target information of each of the sensing targets, each candidate information of the target information of each of the sensing targets is determined; The candidate information of the target information of each of the sensing targets is traversed to determine the echo signal component corresponding to each candidate information of each of the sensing targets.

[0172] Optionally, the first determining module 1501 is further configured to: For each of the perceived targets, a search space for the target information is determined based on an initial estimate of the target information of the perceived target; Based on the search space and search step size, each candidate information of the target information of the perceived target in the search space is determined.

[0173] Optionally, the second determining module 1502 is specifically used for: For each echo signal component corresponding to the candidate information, the normalized echo signal and the echo signal component are subtracted to obtain the target echo signal corresponding to the echo signal component.

[0174] Optionally, the third determining module 1503 is specifically used for: Based on the echo signals of each target, a first radar image corresponding to each of the candidate information is determined for each target echo signal pair. Based on the peak amplitude of each of the first radar images, a target radar image with a peak amplitude less than a first preset value is determined. The candidate information corresponding to the target radar image is determined as the target information of the perceived target.

[0175] Optionally, the target information includes distance information or speed information; the candidate information includes distance candidate information or speed candidate information.

[0176] Optionally, the target information determination device 1500 for the perceived target further includes: The fourth determining module is used to determine, based on the first radar map corresponding to each of the target echo signals and the candidate information, whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one of the sensed targets or at least two of the sensed targets.

[0177] Optionally, the fourth determining module is specifically used for: For each of the first radar images, determine whether the peak value in the first radar image is less than the first preset value; If the peak value in the first radar image is less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by one of the sensed targets. If the peak value in the first radar image is not less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by at least two of the sensed targets; wherein the distance between any two of the at least two sensed targets is less than the second preset value.

[0178] The methods and apparatuses provided in the various embodiments of this application are based on the same concept. Since the methods and apparatuses solve problems in similar ways, the implementations of the apparatuses and methods can refer to each other, and repeated details will not be repeated.

[0179] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application 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 units described above can be implemented in hardware or as software functional units.

[0180] 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 processor-readable storage medium. Based on this understanding, the technical solution of this application, 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.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0181] It should be noted that the apparatus provided in this application embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0182] On the other hand, embodiments of this application also provide a processor-readable storage medium storing a computer program. The computer program is used to cause the processor to execute the target information determination method for the sensing target provided in the above embodiments. For example, it includes: determining echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system; for each sensing target, determining the target echo signal corresponding to each echo signal component based on the normalized echo signal and the echo signal components corresponding to each candidate information; and determining the target information of the sensing target from each candidate information based on each target echo signal.

[0183] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0184] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0185] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0186] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0187] These processors can execute instructions that can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0188] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for determining target information of a perceived target, characterized in that, include: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, determine the echo signal components corresponding to at least one candidate information of at least one sensing target. For each of the sensing targets, the target echo signal corresponding to each echo signal component is determined based on the normalized echo signal and the echo signal components corresponding to each of the candidate information. Based on the echo signals of each target, the target information of the perceived target is determined from the candidate information.

2. The method for determining target information of a perceived target according to claim 1, characterized in that, The determination of echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system includes: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, the initial estimated value of the target information of each sensing target is determined; Based on the initial estimate of the target information of each of the sensing targets, each candidate information of the target information of each of the sensing targets is determined; The candidate information of the target information of each of the sensing targets is traversed to determine the echo signal component corresponding to each candidate information of each of the sensing targets.

3. The method for determining target information of a perceived target according to claim 2, characterized in that, The step of determining each candidate piece of target information for each of the perceived targets based on the initial estimate of the target information for each of the perceived targets includes: For each of the perceived targets, a search space for the target information is determined based on an initial estimate of the target information of the perceived target; Based on the search space and search step size, each candidate information of the target information of the perceived target in the search space is determined.

4. The method for determining target information of a perceived target according to any one of claims 1 to 3, characterized in that, The step of determining the target echo signal corresponding to each echo signal component based on the normalized echo signal and the echo signal components corresponding to each candidate information includes: For each echo signal component corresponding to the candidate information, the normalized echo signal and the echo signal component are subtracted to obtain the target echo signal corresponding to the echo signal component.

5. The method for determining target information of a perceived target according to any one of claims 1 to 3, characterized in that, The step of determining the target information of the perceived target from the candidate information based on the echo signals of each target includes: Based on the echo signals of each target, the first radar map corresponding to each candidate information is determined for each target echo signal; Based on the peak amplitude of each of the first radar images, a target radar image with a peak amplitude less than a first preset value is determined. The candidate information corresponding to the target radar image is determined as the target information of the perceived target.

6. The method for determining target information of a perceived target according to any one of claims 1 to 3, characterized in that, The target information includes distance information or speed information; the candidate information includes distance candidate information or speed candidate information.

7. The method for determining target information of a perceived target according to claim 5, characterized in that, The method further includes: Based on the first radar map corresponding to each of the target echo signals and each of the candidate information, it is determined whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one of the sensed targets or at least two of the sensed targets.

8. The method for determining target information of a perceived target according to claim 7, characterized in that, The step of determining whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one or at least two sensed targets, based on the first radar map corresponding to each of the target echo signals and each of the candidate information, includes: For each of the first radar images, determine whether the peak value in the first radar image is less than the first preset value; If the peak value in the first radar image is less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by one of the sensed targets. If the peak value in the first radar image is not less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by at least two of the sensed targets; wherein the distance between any two of the at least two sensed targets is less than the second preset value.

9. An electronic device, characterized in that, Includes memory, transceiver, and processor: A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, determine the echo signal components corresponding to at least one candidate information of at least one sensing target. For each of the sensing targets, the target echo signal corresponding to each echo signal component is determined based on the normalized echo signal and the echo signal components corresponding to each of the candidate information. Based on the echo signals of each target, the target information of the perceived target is determined from the candidate information.

10. The electronic device according to claim 9, characterized in that, The determination of echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system includes: Based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system, the initial estimated value of the target information of each sensing target is determined; Based on the initial estimate of the target information of each of the sensing targets, each candidate information of the target information of each of the sensing targets is determined; The candidate information of the target information of each of the sensing targets is traversed to determine the echo signal component corresponding to each candidate information of each of the sensing targets.

11. The electronic device according to claim 10, characterized in that, The step of determining each candidate piece of target information for each of the perceived targets based on the initial estimate of the target information for each of the perceived targets includes: For each of the perceived targets, a search space for the target information is determined based on an initial estimate of the target information of the perceived target; Based on the search space and search step size, each candidate information of the target information of the perceived target in the search space is determined.

12. The electronic device according to any one of claims 9 to 11, characterized in that, The step of determining the target echo signal corresponding to each echo signal component based on the normalized echo signal and the echo signal components corresponding to each candidate information includes: For each echo signal component corresponding to the candidate information, the normalized echo signal and the echo signal component are subtracted to obtain the target echo signal corresponding to the echo signal component.

13. The electronic device according to any one of claims 9 to 11, characterized in that, The step of determining the target information of the perceived target from the candidate information based on the echo signals of each target includes: Based on the echo signals of each target, the first radar map corresponding to each candidate information is determined for each target echo signal; Based on the peak amplitude of each of the first radar images, a target radar image with a peak amplitude less than a first preset value is determined. The candidate information corresponding to the target radar image is determined as the target information of the perceived target.

14. The electronic device according to any one of claims 9 to 11, characterized in that, The target information includes distance information or speed information; the candidate information includes distance candidate information or speed candidate information.

15. The electronic device according to claim 13, characterized in that, The operation also includes: Based on the first radar map corresponding to each of the target echo signals and each of the candidate information, it is determined whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one of the sensed targets or at least two of the sensed targets.

16. The electronic device according to claim 15, characterized in that, The step of determining whether the peak value in the second radar map corresponding to the normalized echo signal is caused by one or at least two sensed targets, based on the first radar map corresponding to each of the target echo signals and each of the candidate information, includes: For each of the first radar images, determine whether the peak value in the first radar image is less than the first preset value; If the peak value in the first radar image is less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by one of the sensed targets. If the peak value in the first radar image is not less than the first preset value, it is determined that the peak value in the second radar image corresponding to the normalized echo signal is caused by at least two of the sensed targets; wherein the distance between any two of the at least two sensed targets is less than the second preset value.

17. A target information determination device for sensing a target, characterized in that, include: The first determining module is used to determine the echo signal components corresponding to at least one candidate information of at least one sensing target based on the normalized echo signal corresponding to the sensing signal in the integrated sensing system. The second determining module is used to determine the target echo signal corresponding to each echo signal component for each of the sensed targets, based on the normalized echo signal and the echo signal components corresponding to each of the candidate information. The third determining module is used to determine the target information of the perceived target from the candidate information based on the echo signals of each target.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that causes a computer to perform the method according to any one of claims 1 to 8.

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