Signal detection method and device, signal sending method and device and readable storage medium

Abstract

The invention discloses a signal detection method and device, a signal sending method and device and a readable storage medium, relates to the technical field of communication, and aims to improve the echo power and reduce the omission ratio so as to improve the sensing distance. The method comprises the following steps: determining one or more detection sliding windows for receiving an LFM signal; receiving an echo signal of the LFM signal by using the detection sliding window and detecting the echo signal; wherein the transmission time length of the LFM signal meets the following requirements: Nlen is greater than 1us, and Nlen represents the transmission time length. The embodiment of the invention can improve the echo power and reduce the omission ratio, thereby improving the sensing distance.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a signal detection and transmission method, apparatus, and readable storage medium. Background Technology

[0002] Linear Frequency Modulation (LFM) signals have a large product of time and frequency bandwidth, which can achieve a large pulse compression ratio. They are a widely used signal form in radar and sonar systems.

[0003] Currently, considering the maturity of radar sensing and the commonly used signals in communication systems, the industry mostly adopts a combination of LFM signals and Orthogonal Frequency Division Multiplexing (OFDM) signals for sensing signals used in sensing.

[0004] During actual testing, it was found that the attenuation of the LFM signal was more severe than expected, making it difficult to accumulate sufficient echo signal energy during reception and detection, thus affecting the sensing distance. Summary of the Invention

[0005] This application provides a signal detection and transmission method, apparatus, and readable storage medium to improve echo power, reduce false detection rate, and thereby increase sensing distance.

[0006] In a first aspect, embodiments of this application provide a signal detection method, using a receiving end, including:

[0007] Determine one or more detection sliding windows for receiving LFM signals;

[0008] The echo signal of the LFM signal is received and detected using the detection sliding window;

[0009] The transmission duration of the LFM signal shall meet the following requirements:

[0010] N_len > 1us, where N_len represents the transmission duration.

[0011] Optionally, determining one or more detection sliding windows for receiving LFM signals includes:

[0012] Determine N_len detection windows, where the length of the Mth detection window is M us, 1≤M≤N_len, and M is an integer.

[0013] Optionally, the step of receiving and detecting the echo signal of the LFM signal using the detection sliding window includes:

[0014] If 1≤M<N_len, for the Mth detection sliding window, it slides with Mus as the sliding window length within a time period of X us after the signal reception start time, receives the first sensing waveform of the LFM signal, and detects the first sensing waveform. The first sensing waveform includes the sensing waveform within Mus before the LFM signal transmission end time, X=M+1.

[0015] If M = N_len, for the N_len detection sliding window, it slides within the entire reception window of the LFM signal after the signal reception start time, receives the second sensing waveform of the LFM signal, and detects the second sensing waveform, which is the entire sensing waveform of the LFM signal.

[0016] Optionally, the detection window for receiving the LFM signal includes a detection window with a preset duration; the step of receiving and detecting the echo signal of the LFM signal using the detection window includes:

[0017] The detection window is slid from the moment the LFM signal is transmitted to acquire the echo signal, the length of which is Lus;

[0018] Set the signal in the first N μs of the echo signal to 0, where N = N_len, L is an integer greater than or equal to 1 and L ≥ N;

[0019] A matching signal is determined, wherein the length of the matching signal is N μs, and the waveform used by the matching signal is the same as the waveform used by the LFM signal;

[0020] Using the transmission time of the LFM signal as the starting point of the search, the echo signal of the LFM signal is searched within the detection sliding window;

[0021] The detection result is obtained by matching the echo signal searched within the detection sliding window with the matching signal.

[0022] Secondly, embodiments of this application provide a signal transmission method, applied at a transmitting end, comprising:

[0023] Send an LFM signal, wherein the transmission duration of the LFM signal meets the following requirements:

[0024] N_len > 1us, where N_len represents the transmission duration.

[0025] Optionally, the LFM signal may include one or more different sensing waveforms.

[0026] Optionally, the sensing waveform includes one or more of the following waveforms:

[0027] The first waveform is formed by combining or merging two sub-LFM waveforms;

[0028] The second waveform is formed by merging three sub-LFM pulses, or it includes a first part and a second part, wherein the first part is formed based on two sub-LFM pulses that are frequency-adjacent to each other among the three sub-LFM pulses, and the second part is formed based on the portion of the three sub-LFM pulses other than the pulse used to form the first part;

[0029] The third waveform is formed by merging four sub-LFM pulses, or the third waveform includes a third part and a fourth part, wherein the third part is formed based on at least two sub-LFM pulses that are frequency-adjacent among the four sub-LFM pulses, and the fourth part is formed based on the portion of the four sub-LFM pulses other than the pulse used to form the third part.

[0030] Optionally, if the first waveform is formed by combining two sub-LFM waveforms, the first sub-LFM pulse is an up-modulated signal, and the second sub-LFM pulse is a down-modulated signal; or, the first sub-LFM pulse is a down-modulated signal, and the second sub-LFM pulse is an up-modulated signal; or...

[0031] If the first waveform is formed by merging two sub-LFM waveforms, the two sub-LFM waveforms are merged into a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal.

[0032] Optionally, if the second waveform is formed by combining the three sub-LFM pulses, the three sub-LFM pulses are combined into a single frequency modulation signal, which is either an up-modulated signal or a down-modulated signal; or,

[0033] If the second waveform includes a first part and a second part, the frequency modulation direction corresponding to the first part and the frequency modulation direction corresponding to the second part are the same or different.

[0034] Optionally, the first part is a first frequency-modulated signal formed by combining all of two sub-LFM pulses that are adjacent in frequency, and the second part is a second frequency-modulated signal formed by sub-LFM pulses other than the two sub-LFM pulses; the frequency modulation directions of the first frequency-modulated signal and the second frequency-modulated signal are the same or different; or,

[0035] The three sub-LFM pulses include a third sub-LFM pulse, a fourth sub-LFM pulse, and a fifth sub-LFM pulse; the first part is a third frequency modulation signal formed by merging the entire third sub-LFM pulse and the first sub-part of the fourth sub-LFM pulse; the second part is a fourth frequency modulation signal formed by merging the second sub-part of the fourth sub-LFM pulse and the fifth sub-LFM pulse; the third sub-LFM pulse and the fourth sub-LFM pulse are adjacent in frequency, and the fourth sub-LFM pulse and the fifth sub-LFM pulse are adjacent in frequency; the frequency modulation directions of the third frequency modulation signal and the fourth frequency modulation signal are different, and the frequency difference between the first sub-part and the third sub-LFM pulse is smaller than the frequency difference between the second sub-part and the third sub-LFM pulse.

[0036] Optionally, if the third waveform is formed by merging four sub-LFM pulses, the four sub-LFM pulses are merged to form a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal; or, if the third waveform includes a third part and a fourth part, the frequency modulation direction corresponding to the third part and the frequency modulation direction corresponding to the fourth part are the same or different.

[0037] Optionally, the third part is a frequency-modulated signal formed by merging two adjacent sub-LFM pulses, and the fourth part is formed by sub-LFM pulses other than the two sub-LFM pulses. The frequency modulation direction corresponding to the third part is different from the frequency modulation direction corresponding to the fourth part; or,

[0038] The third part is a frequency-modulated signal formed by merging three sub-LFM pulses that are adjacent in frequency. The fourth part is formed by sub-LFM pulses other than the three sub-LFM pulses. The frequency modulation direction corresponding to the third part is the same as or different from the frequency modulation direction corresponding to the fourth part.

[0039] Optionally, the method further includes:

[0040] The sensing waveform corresponding to the transmitting end is determined based on the configuration information of the upper-layer node or based on the cell identifier corresponding to the transmitting end.

[0041] Thirdly, embodiments of this application provide a signal detection device applied at a receiving end, comprising: a memory, a transceiver, and a processor.

[0042] 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:

[0043] Determine one or more detection sliding windows for receiving LFM signals;

[0044] The echo signal of the LFM signal is received and detected using the detection sliding window;

[0045] The transmission duration of the LFM signal shall meet the following requirements:

[0046] N_len > 1us, where N_len represents the transmission duration.

[0047] Optionally, determining one or more detection sliding windows for receiving LFM signals includes:

[0048] Determine N_len detection windows, where the length of the Mth detection window is M us, 1≤M≤N_len, and M is an integer.

[0049] Optionally, the step of receiving and detecting the echo signal of the LFM signal using the detection sliding window includes:

[0050] If 1≤M<N_len, for the Mth detection sliding window, it slides with Mus as the sliding window length within a time period of X us after the signal reception start time, receives the first sensing waveform of the LFM signal, and detects the first sensing waveform. The first sensing waveform includes the sensing waveform within Mus before the LFM signal transmission end time, X=M+1.

[0051] If M = N_len, for the N_len detection sliding window, it slides within the entire reception window of the LFM signal after the signal reception start time, receives the second sensing waveform of the LFM signal, and detects the second sensing waveform, which is the entire sensing waveform of the LFM signal.

[0052] Optionally, the detection window for receiving the LFM signal includes a detection window with a preset duration; the step of receiving and detecting the echo signal of the LFM signal using the detection window includes:

[0053] The detection window is slid from the moment the LFM signal is transmitted to acquire the echo signal, the length of which is Lus;

[0054] Set the signal in the first N μs of the echo signal to 0, where N = N_len, L is an integer greater than or equal to 1 and L ≥ N;

[0055] A matching signal is determined, wherein the length of the matching signal is N μs, and the waveform used by the matching signal is the same as the waveform used by the LFM signal;

[0056] Using the transmission time of the LFM signal as the starting point of the search, the echo signal of the LFM signal is searched within the detection sliding window;

[0057] The detection result is obtained by matching the echo signal searched within the detection sliding window with the matching signal.

[0058] Fourthly, embodiments of this application provide a signal transmitting device applied at a transmitting end, comprising: a memory, a transceiver, and a processor.

[0059] 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:

[0060] Send an LFM signal, wherein the transmission duration of the LFM signal meets the following requirements:

[0061] N_len > 1us, where N_len represents the transmission duration.

[0062] Optionally, the LFM signal may include one or more different sensing waveforms.

[0063] Optionally, the sensing waveform includes one or more of the following waveforms:

[0064] The first waveform is formed by combining or merging two sub-LFM waveforms;

[0065] The second waveform is formed by merging three sub-LFM pulses, or it includes a first part and a second part, wherein the first part is formed based on two sub-LFM pulses that are frequency-adjacent to each other among the three sub-LFM pulses, and the second part is formed based on the portion of the three sub-LFM pulses other than the pulse used to form the first part;

[0066] The third waveform is formed by merging four sub-LFM pulses, or the third waveform includes a third part and a fourth part, wherein the third part is formed based on at least two sub-LFM pulses that are frequency-adjacent among the four sub-LFM pulses, and the fourth part is formed based on the portion of the four sub-LFM pulses other than the pulse used to form the third part.

[0067] Optionally, if the first waveform is formed by combining two sub-LFM waveforms, the first sub-LFM pulse is an up-modulated signal, and the second sub-LFM pulse is a down-modulated signal; or, the first sub-LFM pulse is a down-modulated signal, and the second sub-LFM pulse is an up-modulated signal; or...

[0068] If the first waveform is formed by merging two sub-LFM waveforms, the two sub-LFM waveforms are merged into a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal.

[0069] Optionally, if the second waveform is formed by combining the three sub-LFM pulses, the three sub-LFM pulses are combined into a single frequency modulation signal, which is either an up-modulated signal or a down-modulated signal; or,

[0070] If the second waveform includes a first part and a second part, the frequency modulation direction corresponding to the first part and the frequency modulation direction corresponding to the second part are the same or different.

[0071] Optionally, the first part is a first frequency-modulated signal formed by combining all of two sub-LFM pulses that are adjacent in frequency, and the second part is a second frequency-modulated signal formed by sub-LFM pulses other than the two sub-LFM pulses; the frequency modulation directions of the first frequency-modulated signal and the second frequency-modulated signal are the same or different; or,

[0072] The three sub-LFM pulses include a third sub-LFM pulse, a fourth sub-LFM pulse, and a fifth sub-LFM pulse; the first part is a third frequency modulation signal formed by merging the entire third sub-LFM pulse and the first sub-part of the fourth sub-LFM pulse; the second part is a fourth frequency modulation signal formed by merging the second sub-part of the fourth sub-LFM pulse and the fifth sub-LFM pulse; the third sub-LFM pulse and the fourth sub-LFM pulse are adjacent in frequency, and the fourth sub-LFM pulse and the fifth sub-LFM pulse are adjacent in frequency; the frequency modulation directions of the third frequency modulation signal and the fourth frequency modulation signal are different, and the frequency difference between the first sub-part and the third sub-LFM pulse is smaller than the frequency difference between the second sub-part and the third sub-LFM pulse.

[0073] Optionally, if the third waveform is formed by merging four sub-LFM pulses, the four sub-LFM pulses are merged to form a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal; or, if the third waveform includes a third part and a fourth part, the frequency modulation direction corresponding to the third part and the frequency modulation direction corresponding to the fourth part are the same or different.

[0074] Optionally, the third part is a frequency-modulated signal formed by merging two adjacent sub-LFM pulses, and the fourth part is formed by sub-LFM pulses other than the two sub-LFM pulses. The frequency modulation direction corresponding to the third part is different from the frequency modulation direction corresponding to the fourth part; or,

[0075] The third part is a frequency-modulated signal formed by merging three sub-LFM pulses that are adjacent in frequency. The fourth part is formed by sub-LFM pulses other than the three sub-LFM pulses. The frequency modulation direction corresponding to the third part is the same as or different from the frequency modulation direction corresponding to the fourth part.

[0076] Optionally, the processor is further configured to read the computer program in the memory and perform the following operations:

[0077] The sensing waveform corresponding to the transmitting end is determined based on the configuration information of the upper-layer node or based on the cell identifier corresponding to the transmitting end.

[0078] Fifthly, embodiments of this application provide a signal detection device applied at a receiving end, comprising:

[0079] The first determining unit is used to determine one or more detection sliding windows for receiving LFM signals;

[0080] The first detection unit is used to receive and detect the echo signal of the LFM signal using the detection sliding window;

[0081] The transmission duration of the LFM signal shall meet the following requirements:

[0082] N_len > 1us, where N_len represents the transmission duration.

[0083] Sixthly, embodiments of this application provide a signal transmitting device, applied at a transmitting end, comprising:

[0084] The first transmitting unit is used to transmit an LFM signal, wherein the transmission duration of the LFM signal meets the following requirements:

[0085] N_len > 1us, where N_len represents the transmission duration.

[0086] In a seventh aspect, embodiments of this application also provide a processor-readable storage medium storing a computer program, which, when executed by a processor, implements the steps in the signal transmission or signal detection method described above.

[0087] In this embodiment, the transmission duration N_len of the transmitted LFM signal is greater than 1µs, which enables the LFM signal to cover the mid-to-far point. Compared with the prior art, it can achieve a longer period of energy accumulation, thereby increasing the echo power, reducing the false detection rate, and thus increasing the sensing distance. Attached Figure Description

[0088] Figure 1 This is a flowchart of the signal transmission method provided in the embodiments of this application;

[0089] Figures 2(a) and 2(b) are first schematic diagrams of the first waveform of an embodiment of this application;

[0090] Figures 2(c) and 2(d) are second schematic diagrams of the first waveform in an embodiment of this application;

[0091] Figures 3(a) and 3(b) are first schematic diagrams of the second waveform in an embodiment of this application;

[0092] Figures 3(c) to 3(f) This is a second schematic diagram of the second waveform in an embodiment of this application;

[0093] Figures 3(g) and 3(h) are third schematic diagrams of the second waveform in an embodiment of this application;

[0094] Figures 4(a) and 4(b) are first schematic diagrams of the third waveform in an embodiment of this application;

[0095] Figures 4(c) to 4(d) This is a second schematic diagram of the third waveform in an embodiment of this application;

[0096] Figures 4(e) to 4(h) This is a third schematic diagram of the third waveform in an embodiment of this application;

[0097] Figure 5 This is a schematic diagram of the LFM transmission signal according to an embodiment of this application;

[0098] Figure 6 This is a schematic diagram of a transmission scenario according to an embodiment of this application;

[0099] Figure 7 This is a flowchart of the signal detection method provided in the embodiments of this application;

[0100] Figure 8 This is one of the schematic diagrams of signal detection in an embodiment of this application;

[0101] Figure 9 This is a second schematic diagram of signal detection according to an embodiment of this application;

[0102] Figure 10 This is a structural diagram of the signal transmitting device provided in the embodiments of this application;

[0103] Figure 11 This is a structural diagram of the signal detection device provided in the embodiments of this application;

[0104] Figure 12 This is a structural diagram of the signal transmitting device provided in the embodiments of this application;

[0105] Figure 13 This is a structural diagram of the signal detection device provided in the embodiments of this application. Detailed Implementation

[0106] 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.

[0107] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0108] 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.

[0109] This application provides a signal transmission and detection method and apparatus to improve echo power, reduce false detection rate, and thereby increase sensing distance.

[0110] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0111] See Figure 1 , Figure 1 This is a flowchart of a signal transmission method provided in an embodiment of this application, applied to a transmitting end, such as... Figure 1 As shown, it includes the following steps:

[0112] Step 101: Send an LFM signal, wherein the transmission duration of the LFM signal meets the following requirement: N_len > 1us, where N_len represents the transmission duration. For example, N_len = 2us, 3us, 4us, etc.

[0113] The scheme implemented in this application, for example, provides a theoretical 3 dB enhancement (10 log2) for energy accumulation when N_len = 2 µs and a theoretical 6 dB enhancement (10 log4) for energy accumulation when N_len = 4 µs. Therefore, this scheme can increase echo power, reduce the false negative rate, and thus improve the sensing range.

[0114] In this embodiment, the transmission duration of the LFM signal can be determined based on the perceived coverage requirements. The transmission duration of the LFM signal is related to the signal length of the LFM signal (where the signal length of the LFM signal equals the transmission duration plus the receiving window length, which is the length of one or more Orthogonal Frequency Division Multiplexing (OFDM) symbols), coverage distance requirements, handover delay, etc. For example, the transmission duration of the LFM signal can satisfy the following relationship:

[0115] N_len=ceiling(LFM-Len×R-((L×2) / c)–Q).

[0116] Where, ceiling represents rounding up; LFM-Len represents the signal length of the LFM signal; R represents the adjustment parameter, which is greater than 0; L represents the coverage distance requirement; and c represents the speed of light, c = 3 × 10⁻⁶. 8 m / s; Q represents the switching delay.

[0117] For example, in low-altitude coverage scenarios, LFM-Len is the length of one OFDM symbol: 35.677µs ((288+4096) / 122.88MHz sampling rate), and the network configuration is 3-sector time-division multiplexing. Assuming the LFM signal's N_len = 4µs, the reception time is approximately: 35.677 / 3 - 4µs - handover delay (assuming 0.5µs) = 7.39µs. In this case, the required sensing coverage distance of approximately 1.1km (7.39×c / 2) can be met (coverage distance = reception window length / 2×3×10). 8 m / s).

[0118] Taking a 3-sector time-division multiplexing network configuration as an example, the specific formula for calculating this transmission duration is as follows:

[0119] N_len=ceiling(LFM-Len / 3-((L×2) / c)–Q).

[0120] In scenarios requiring high coverage distance, such as waterways, this formula can be further adjusted to ensure greater sensing coverage:

[0121] N_len = ceiling(LFM - Len - ((L×2) / c) – Q). Here, the coverage distance requires L to extend to several kilometers.

[0122] In scenarios requiring higher coverage distances, such as at sea, to ensure greater sensing coverage, the receiving length is determined by multiple OFDM symbol lengths. For example, the frame structure of 4P3C (i.e., 4 pulse waves and 3 continuous waves, where P represents pulse wave and C represents continuous wave) can be changed to 1P1C, where each P wave, i.e., the LFM signal, occupies 4 symbol lengths. This formula can be further adjusted as follows:

[0123] N_len = ceiling(LFM - Len × N - ((L × 2) / c) – Q). Here, N is an integer greater than 1, for example, N = 4, where the coverage distance requires L to extend to tens of kilometers. For ocean coverage scenarios, N_len = 8µs, 9µs, or 10µs.

[0124] In this embodiment, the LFM signal includes one or more different sensing waveforms. The sensing waveform is not specifically limited; for example, it can be a triangular wave, up-modulated wave, down-modulated wave, or other orthogonal waveforms.

[0125] The sensing waveform may include one or more of the following:

[0126] 1. The first waveform is formed by combining or merging two sub-LFM waveforms.

[0127] 2. The second waveform is formed by merging three sub-LFM pulses, or includes a first part and a second part, wherein the first part is formed based on two sub-LFM pulses that are frequency-adjacent among the three sub-LFM pulses, and the second part is formed based on the portion of the three sub-LFM pulses other than the pulse used to form the first part.

[0128] 3. The third waveform is formed by merging four sub-LFM pulses, or the third waveform includes a third part and a fourth part, wherein the third part is formed based on at least two sub-LFM pulses that are frequency-adjacent among the four sub-LFM pulses, and the fourth part is formed based on the portion of the four sub-LFM pulses other than the pulse used to form the third part.

[0129] The following sections, with reference to the accompanying diagrams, provide a detailed description of the various waveforms described above.

[0130] 1. First waveform: formed by combining or merging two sub-LFM waveforms.

[0131] Here, "combination" can be understood as the first waveform being formed by splicing two sub-LFM waveforms. In this process, each sub-LFM waveform retains its own waveform properties. "Merging" can be understood as the first waveform being formed by combining two sub-LFM waveforms. During the merging process, some properties of the two sub-LFM waveforms may change, such as their slope. In this case, N_len can take the value 2µs.

[0132] 1.1 If the first waveform is formed by combining two sub-LFM waveforms, the first sub-LFM pulse in the two sub-LFM pulses is an up-modulated signal, and the second sub-LFM pulse in the two sub-LFM pulses is a down-modulated signal; or, the first sub-LFM pulse is a down-modulated signal, and the second sub-LFM pulse is an up-modulated signal.

[0133] Figures 2(a) and (b) show the first schematic diagram of the first waveform. The first waveform is formed by combining two sub-LFM waveforms (LFM1 and LFM2). In Figure 2(a), LFM1 (the first LFM pulse) is an up-modulated signal, and LFM2 (the second LFM pulse) is a down-modulated signal; in Figure 2(b), LFM1 is a down-modulated signal, and LFM2 is an up-modulated signal. In Figures 2(a) and 2(b), the ending frequency of LFM1 is equal to the starting frequency of LFM2. If the positions of LFM1 and LFM2 are interchanged, the starting frequency of LFM1 becomes equal to the ending frequency of LFM2.

[0134] 1.2 If the first waveform is formed by merging two sub-LFM waveforms, the two sub-LFM waveforms are merged into a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal.

[0135] Figures 2(c) and (d) show a second schematic diagram of the first waveform. The first waveform is formed by merging two sub-LFM waveforms (LFM1 and LFM2), with LFM1 and LFM2 having the same frequency modulation direction. In Figure 2(c), LFM1 and LFM2 are merged into an up-modulated signal, with the starting frequency of LFM2 adjusted upwards based on the ending frequency of LFM1; in Figure 2(d), LFM1 and LFM2 are merged into a down-modulated signal, with the starting frequency of LFM2 adjusted downwards based on the ending frequency of LFM1.

[0136] For the cases in Figure 2(c) and Figure 2(d), the sensing waveform can also be considered as consisting of a sub-LFM waveform with a length of N_len.

[0137] If the LFM signal only includes this one waveform, the specific waveform selected for a given cell / sector can be configured by the upper-layer node (such as the base station) or mapped according to the cell-ID (cell identifier), thereby reducing inter-cell interference. For example, when using a single cell / sector for networking, any of the aforementioned waveforms can be selected; when using two cells / sectors for networking, these cells / sectors can select different waveforms from the aforementioned waveforms. For example, one cell can use the waveform shown in Figure 2(a), and the other cell can use the waveform shown in Figure 2(c).

[0138] 2. Second waveform: formed by merging three sub-LFM pulses, or including a first part and a second part, wherein the first part is formed based on two sub-LFM pulses that are adjacent in frequency among the three sub-LFM pulses, and the second part is formed based on the portion of the three sub-LFM pulses other than the pulse used to form the first part.

[0139] The meaning of "merger" can be found in the explanation above.

[0140] 2.1 If the second waveform is formed by merging the three sub-LFM pulses, the three sub-LFM pulses are merged into a frequency modulation signal, and the frequency modulation signal is an up-frequency modulation signal or a down-frequency modulation signal.

[0141] Figures 3(a) and (b) show the first schematic diagram of the second waveform. The second waveform is formed by merging three sub-LFM pulses (LFM1, LFM2, and LFM3, which are adjacent in frequency). The three sub-LFM pulses have the same frequency modulation direction, either all up-modulated or all all down-modulated. In Figure 3(a), all three sub-LFM pulses are up-modulated, and the merged frequency modulation signal is an up-modulated signal. The starting frequency of LFM2 is the ending frequency of LFM1, and the starting frequency of LFM3 is the ending frequency of LFM2. That is, the subsequent sub-LFM pulse is up-modulated based on the ending frequency of the previous sub-LFM pulse. In Figure 3(b), all three sub-LFM pulses are down-modulated, and the merged frequency modulation signal is a down-modulated signal. The starting frequency of LFM2 is the ending frequency of LFM1, and the starting frequency of LFM3 is the ending frequency of LFM2. That is, the subsequent sub-LFM pulse is down-modulated based on the ending frequency of the previous sub-LFM pulse.

[0142] 2.2 If the second waveform includes a first part and a second part, and the frequency modulation direction corresponding to the first part and the frequency modulation direction corresponding to the second part are the same or different, the following situations may be included:

[0143] 2.2.1 The first part is: a first frequency modulation signal formed by combining all of two sub-LFM pulses that are adjacent in frequency; the second part is: a second frequency modulation signal formed by sub-LFM pulses other than the two sub-LFM pulses; the frequency modulation directions of the first frequency modulation signal and the second frequency modulation signal are the same or different.

[0144] Figures 3(c)-(f) show a second schematic diagram of the second waveform. The second waveform includes three sub-LFM pulses (LFM1, LFM2, and LFM3, which are adjacent in frequency).

[0145] In Figures 3(c) and (d), LFM1 and LFM2 are combined into a single frequency modulation signal A (i.e., the first frequency modulation signal), while LFM3 is a separate frequency modulation signal B (i.e., the second frequency modulation signal). A represents the first part, and B represents the second part. The frequency modulation direction of A or B is either up-modulation (Figure 3(c)) or down-modulation (Figure 3(d)), and their frequency modulation directions can be the same or different.

[0146] In Figures 3(e) and (f), LFM1 is a single frequency modulation signal C (i.e., the second frequency modulation signal), while LFM2 and LFM3 are combined into a single frequency modulation signal D (i.e., the first frequency modulation signal). D represents the first part, and C represents the second part. The frequency modulation direction of C or D is either up-modulation (Figure 3(e)) or down-modulation (Figure 3(f)), and their frequency modulation directions can be the same or different.

[0147] 2.2.2 The three sub-LFM pulses include a third sub-LFM pulse, a fourth sub-LFM pulse, and a fifth sub-LFM pulse; the first part is a third frequency modulation signal formed by merging the entire third sub-LFM pulse and the first sub-part of the fourth sub-LFM pulse; the second part is a fourth frequency modulation signal formed by merging the second sub-part of the fourth sub-LFM pulse and the fifth sub-LFM pulse; the third sub-LFM pulse and the fourth sub-LFM pulse are adjacent in frequency, and the fourth sub-LFM pulse and the fifth sub-LFM pulse are adjacent in frequency; the frequency modulation directions of the third frequency modulation signal and the fourth frequency modulation signal are different, and the frequency difference between the first sub-part and the third sub-LFM pulse is smaller than the frequency difference between the second sub-part and the third sub-LFM pulse.

[0148] Here, the duration of the fourth sub-LFM pulse, including the first sub-part and the second sub-part, can be determined as needed. For example, the first sub-part and the second sub-part can each occupy half the duration of the fourth sub-LFM pulse.

[0149] Since the third, fourth, and fifth sub-LFM pulses are sequentially adjacent in frequency, and the frequency difference between the first sub-part and the third sub-LFM pulse is smaller than the frequency difference between the second sub-part and the third sub-LFM pulse, it can be understood that the first sub-part of the fourth sub-LFM pulse is closer to the third sub-LFM pulse in frequency than the second sub-part, and the second sub-part is closer to the fifth sub-LFM pulse in frequency than the first sub-part.

[0150] Figures 3(g) and (h) show a third schematic diagram of the second waveform. The second waveform includes three sub-LFM pulses (LFM3, LFM4, and LFM5, which are adjacent in frequency), corresponding to the third, fourth, and fifth sub-LFM pulses, respectively. In Figure 3(g), the first half of LFM3 and LFM4 (i.e., the first sub-part E1) is combined into a single frequency modulation signal E (i.e., the third frequency modulation signal); the second half of LFM4 (i.e., the second sub-part F1) and LFM5 are combined into a single frequency modulation signal F (i.e., the fourth frequency modulation signal). The first sub-part is closer to LFM3 in frequency than the second sub-part, and the second sub-part is closer to LFM5 in frequency than the first sub-part. The frequency modulation directions of frequency modulation signals E and F are different; for example, frequency modulation signal E is up-modulated and F is down-modulated, or, as shown in Figure 3(h), frequency modulation signal E is down-modulated and F is up-modulated.

[0151] For the cases in Figure 3(a) and Figure 3(b), the sensing waveform can also be considered as consisting of a sub-LFM waveform with a length of N_len.

[0152] If the LFM signal only includes one waveform, the specific waveform selected for a given cell / sector can be configured by the upper-layer node (such as the base station) or mapped according to the cell-ID (cell identifier), thereby reducing inter-cell interference. For example, when using a single cell / sector for networking, any of the aforementioned waveforms can be used; when using two cells / sectors for networking, these cells / sectors can use different waveforms from the aforementioned waveforms. For example, one cell can use the waveform shown in Figure 3(a), and the other cell can use the waveform shown in Figure 3(c). When using three cells / sectors for networking, one cell can use the waveform shown in Figure 3(a), another cell can use the waveform shown in Figure 3(c), and the third cell can use the waveform shown in Figure 3(e), thereby reducing mutual interference between cells.

[0153] In this case, for example, N_len can be chosen to be 3us, in which case the duration of each sub-LFM pulse is 1us. If N_len is 4.5us, the duration of each sub-LFM pulse is 1.5us. If N_len is 2us, the duration of each sub-LFM pulse is 0.667us.

[0154] 3. Third waveform: formed by merging four sub-LFM pulses, or the third waveform includes a third part and a fourth part, wherein the third part is formed based on at least two sub-LFM pulses that are frequency-adjacent among the four sub-LFM pulses, and the fourth part is formed based on the portion of the four sub-LFM pulses other than the pulse used to form the third part, and may include the following cases:

[0155] 3.1 If the third waveform is formed by merging four sub-LFM pulses, the four sub-LFM pulses are merged to form a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal.

[0156] Figures 4(a) and (b) show the first schematic diagram of the third waveform. The third waveform is formed by merging four sub-LFM pulses (LFM1, LFM2, LFM3, and LFM4, which are adjacent in frequency). The four sub-LFM pulses have the same frequency modulation direction, either all up-modulating or all down-modulating. In Figure 4(a), all four sub-LFM pulses are up-modulated, and the merged frequency modulation signal is an up-modulated signal. The starting frequency of LFM2 is the ending frequency of LFM1, the starting frequency of LFM3 is the ending frequency of LFM2, and the starting frequency of LFM4 is the ending frequency of LFM3. That is, the subsequent sub-LFM pulse is up-modulated based on the ending frequency of the previous sub-LFM pulse. In Figure 4(b), all four sub-LFM pulses are down-modulated, and the combined frequency modulation signal is a down-modulated signal. The starting frequency of LFM2 is the ending frequency of LFM1, the starting frequency of LFM3 is the ending frequency of LFM2, and the starting frequency of LFM4 is the ending frequency of LFM3. That is, the subsequent sub-LFM pulse is down-modulated based on the ending frequency of the previous sub-LFM pulse.

[0157] 3.2 If the third waveform includes a third part and a fourth part, and the frequency modulation direction corresponding to the third part is the same as or different from the frequency modulation direction corresponding to the fourth part, the following situations may be included:

[0158] 3.2.1 The third part is: a frequency-modulated signal formed by merging two sub-LFM pulses that are adjacent in frequency, and the fourth part is: formed by sub-LFM pulses other than the two sub-LFM pulses. The frequency modulation direction corresponding to the third part is different from the frequency modulation direction corresponding to the fourth part.

[0159] Figures 4(c) and (d) show a second schematic diagram of the third waveform. The third waveform includes four sub-LFM pulses (LFM1, LFM2, LFM3 and LFM4, with frequencies adjacent to each other).

[0160] Figure 4(c) and4(d) In Figure 4, LFM1 and LFM2 are combined into a single frequency modulation signal G (i.e., the third part), and LFM3 and LFM4 are combined into a single frequency modulation signal H (i.e., the fourth part). The frequency modulation directions of frequency modulation signals G and H are different. For example, in Figure 4(c), frequency modulation signal G is up-modulated and H is down-modulated, or, as shown in Figure 4(d), frequency modulation signal G is down-modulated and H is up-modulated.

[0161] Of course, in this case, LFM2 and LFM3 can also be combined into a single FM signal, while LFM1 and LFM4 are separate FM signals. The direction of the FM signal formed by combining LFM2 and LFM3 must be different from that of LFM1 and LFM4.

[0162] 3.2.2 The third part is: a frequency modulation signal formed by merging three sub-LFM pulses that are adjacent in frequency, and the fourth part is: formed by sub-LFM pulses other than the three sub-LFM pulses. The frequency modulation direction corresponding to the third part is the same as or different from the frequency modulation direction corresponding to the fourth part.

[0163] Figures 4(e)-(h) show the third schematic diagram of the third waveform. The third waveform includes four sub-LFM pulses (LFM1, LFM2, LFM3 and LFM4, with frequencies adjacent to each other).

[0164] In Figures 4(e) and (f), LFM1, LFM2, and LFM3 are combined into a single FM signal I (i.e., the third part), and LFM4 is a separate FM signal J (i.e., the fourth part). The modulation directions of FM signals I and J are different or the same. For example, in Figure 4(e), FM signal I is up-modulated and J is down-modulated, or, as shown in Figure 4(f), FM signal I is down-modulated and J is up-modulated.

[0165] In Figures 4(g) and (h), LFM2, LFM3, and LFM4 are combined into a single FM signal L (i.e., the third part), while LFM1 is a separate FM signal K (i.e., the fourth part). The FM signals K and L have different or the same modulation direction. For example, in Figure 4(g), FM signal K is up-modulated and L is down-modulated, or, as shown in Figure 4(h), FM signal K is down-modulated and L is up-modulated.

[0166] For the cases in Figures 4(a) and 4(b), the sensing waveform can also be considered as consisting of a sub-LFM waveform with a length of N_len.

[0167] If the LFM signal only includes this one waveform, the specific waveform selected for a given cell / sector can be configured by the upper-layer node (such as the base station) or mapped according to the cell-ID (cell identifier), thereby reducing inter-cell interference. For example, when using a single cell / sector for networking, any of the aforementioned waveforms can be selected; when using two cells / sectors for networking, these cells / sectors can select different waveforms from the aforementioned waveforms. For example, one cell can use the waveform shown in Figure 4(a), and the other cell can use the waveform shown in Figure 4(c). When using three cells / sectors for networking, one cell can use the waveform shown in Figure 4(a), another cell can use the waveform shown in Figure 4(c), and the third cell can use the waveform shown in Figure 4(e), thereby reducing mutual interference between cells.

[0168] In this scenario, for example, N_len can be set to 4µs, in which case the duration of each sub-LFM pulse is 1µs. If N_len is 3µs, the duration of each sub-LFM pulse is 0.75µs. If N_len is 2µs, the duration of each sub-LFM pulse is 0.5µs.

[0169] When choosing to use Figures 2(a) to 4(h) The transmitter can determine the sensing waveform corresponding to the transmitter based on the configuration information of the upper-layer node (such as the base station) or the cell identifier corresponding to the transmitter. This configuration information may include, for example, the identifier of the sensing waveform corresponding to each cell or sector.

[0170] It should be noted that the above-mentioned sensing waveforms are only examples illustrating several specific forms of sensing waveforms. In specific applications, appropriate modifications can be made to the above-mentioned sensing waveforms.

[0171] In practical applications, using different waveform combinations in adjacent cells / sectors can reduce interference between adjacent nodes. Table 5 shows the effects of using different waveform combinations in cells / sectors.

[0172] Table 5

[0173]

[0174]

[0175] As shown in Table 5, when adjacent cells use the same waveform or waveforms with opposite slopes, mutual interference is relatively large, with a value of approximately 1, easily creating false targets, as shown in Network Index 1 and 3 of the table above. When adjacent cells use different waveforms, if one sub-waveform is the same (or has an opposite slope), there will be some interference, but the interference intensity is reduced by 3dB, as shown in Network Index 2 of the table above. When the transmitted signal and the search signal are different (LFM1 is up-modulation, LFM2 is up-modulation), the interference is relatively weak, as shown in Network Index 4 of the table above. Therefore, in the embodiments of this application, if the number of cells / sectors in the network configuration is 3 or more, the following can be adopted: Figures 4(a)-4(h) The combination of waveforms in the third waveform.

[0176] like Figure 5 As shown, taking N_len = 4us as an example, the transmitting end uses four different sensing waveforms (1, 2, 3, and 4 in the figure), each lasting 1us, for a total of 4us. The above four different sensing waveforms can be selected from the three waveforms mentioned above.

[0177] In this embodiment, the transmission duration N_len of the transmitted LFM signal is greater than 1µs, which enables the LFM signal to cover the mid-to-far point. Compared with the prior art, it can achieve a longer period of energy accumulation, thereby increasing the echo power, reducing the false detection rate, and thus increasing the sensing distance.

[0178] like Figure 6 As shown, assuming a switching delay of 0, the transmission duration N_len of the LFM signal is 4µs. 1µs corresponds to a blind zone of 150m, and 4µs will amplify the blind zone to 600m. If the reception detection still requires receiving the complete 4µs echo power, the detection difficulty of the OFDM signal will increase. Therefore, in order to improve the mid-to-far point sensing coverage performance without increasing the blind zone size caused by LFM signal transmission, the signal detection method in this application is designed as a flexible sliding window reception detection scheme combining multiple sensing waveforms. See [link to relevant documentation] Figure 7 , Figure 7 This is a flowchart of a signal detection method in an embodiment of this application, applied at a receiving end. The receiving end and the aforementioned transmitting end can also be located in the same device or apparatus, performing their respective functions in different scenarios. The method may include:

[0179] Step 701: Determine one or more detection sliding windows for receiving LFM signals;

[0180] The transmission duration of the LFM signal satisfies the following requirement: N_len > 1µs, where N_len represents the transmission duration. For an explanation of the LFM signal transmission duration, please refer to the description in the foregoing embodiments.

[0181] In this embodiment, N_len detection windows can be determined, where the length of the Mth detection window is Mus, 1≤M≤N_len, and M is an integer. For example, taking N_len=4 as an example, 4 detection windows can be set. The lengths of the 4 detection windows are 1µs, 2µs, 3µs, and 4µs, respectively.

[0182] In this embodiment of the application, a detection sliding window with a preset duration can also be set, which can be set as needed.

[0183] By setting detection windows of different lengths, the accuracy of echo signal reception can be improved.

[0184] Step 702: Receive and detect the echo signal of the LFM signal using the detection sliding window.

[0185] Corresponding to the N_len detection windows determined in step 701, if 1 ≤ M < N_len, for the Mth detection window, it slides within a time frame of M us after the signal reception start time, receiving the first perceived waveform of the LFM signal and detecting it. The first perceived waveform includes the perceived waveform within M us before the LFM signal transmission end time, where X = M + 1. If M = N_len, for the N_len detection window, it slides within the entire reception window of the LFM signal after the signal reception start time, receiving the second perceived waveform of the LFM signal and detecting it. The second perceived waveform is the entire perceived waveform of the LFM signal.

[0186] like Figure 8 As shown, taking N_len = 4us as an example, the transmitting end uses four different sensing waveforms (11, 12, 13, and 14 in the figure), each lasting 1us, for a total of 4us. Here, four detection windows are set: Detection Window 1, Detection Window 2, Detection Window 3, and Detection Window 4. Wherein:

[0187] Detection window 1: With a window length of 1µs, the window slides for 2µs after the signal reception start time (or when the device switches to receiving mode or state). The initial position of the window slides from 4µs to 5µs, and echo signal correlation detection is performed using waveform 14 as the expected waveform. The object detected by this window is located within a distance of 150-300m. That is, only waveform 14 received within this detection window is detected.

[0188] Detection window 2: With a window length of 2µs, the window slides for 3µs after switching to reception, with the initial position of the window sliding from 4µs to 5µs. Echo signal correlation detection is performed using waveforms 13 and 14 as the expected waveforms. That is, only waveforms 13 and 14 received within this detection window are detected. Objects detected by this window are located within a distance of 300–450m; its received echo power is enhanced by 3dB (10log2) compared to existing schemes, improving detection accuracy.

[0189] Detection window 3: With a window length of 3µs, the window slides for 4µs after switching to reception, starting from 4µs and moving to 5µs. Echo signal correlation detection is performed using waveforms 12, 13, and 14 as the expected waveforms. That is, only waveforms 12, 13, and 14 received within this detection window are detected. Objects detected by this window are located within a distance of 450–600m; its received echo power is enhanced by 4.7dB (10log3) compared to existing schemes, significantly improving detection accuracy.

[0190] Detection window 4: With a window length of 4µs, a sliding window is used from the switch to reception until the end of the entire LFM signal reception window (LFM-Len duration). Echo signal correlation detection is performed using waveforms 11, 12, 13, and 14 as the expected waveforms. That is, only waveforms 11, 12, 13, and 14 received within this detection window are detected. Objects detected by this window are located at a distance of 600 (N_len × 150, in this example, N_len = 4)m, and their received echo power is enhanced by 6dB (10log N_len) compared to existing schemes, greatly improving detection accuracy.

[0191] Combination Figure 6 Assuming a switching delay of 0 and an LFM signal transmission duration N_len of 4µs, the scheme of this application, for the echo reception detection of sensing objects beyond 600m, theoretically can improve by 6dB based on a complete reception duration of 4µs; for the echo power of sensing objects within 150-600m, depending on the distance, echo power ranging from 1-3µs can be received (as shown in the receiving section 61 in the figure). Since the distance of sensing objects within the 150-600m range is relatively short, a certain power enhancement can also be obtained (an improvement of 0dB to 4.7dB). Experiments show that when N_len ≥ 2µs, compared with the prior art, the received echo power at a distant point can be enhanced by up to 10log(N_len).

[0192] Corresponding to step 701, a detection sliding window with a preset duration is used in this step, combined with Figure 9 The process may include:

[0193] (1) Starting from the time the LFM signal is transmitted, slide the detection window to obtain the echo signal, the length of which is Lus.

[0194] The echo signal is received and sampled on the receiving antenna channel. Assume that the echo signal starts from t0 and ends at t3, with a total length of Lus.

[0195] (2) Set the signal in the first N μs of the echo signal to 0, where N = N_len, L is an integer greater than or equal to 1 and L ≥ N.

[0196] If the transmitting and receiving antennas are the same device, meaning that the sensing signal cannot be received simultaneously while it is being transmitted, or that it can be received but there is a risk of oversaturation, then the signal within the first N μs should be set to 0.

[0197] (3) Determine the matching signal, wherein the length of the matching signal is N us, and the waveform used by the matching signal is the same as the waveform used by the LFM signal.

[0198] Here, the matching signals are set as: Tx(0), Tx(1), ... Tx(N-1). The value of Tx is the same as the transmitted sensing signal.

[0199] (4) Using the transmission time of the LFM signal as the search starting point, search for the echo signal of the LFM signal within the detection sliding window.

[0200] (5) Match the echo signal searched within the detection window with the matching signal to obtain the detection result.

[0201] In (4) and (5) above, the transmission time of the LFM signal is used as the search starting point to search for possible echo signals delay(i) and corresponding peak energies E(i), where i is 0, 1, ..., LN. The searched echo signals and the matching signals are matched to obtain the detection results. Taking i = 9 as an example, the echo sequences r(9+0), r(9+1)...r(9+N-1) and Tx(0), Tx(1), ..., Tx(N-1) are used for detection calculation.

[0202] In this embodiment, the transmission duration of the LFM signal is N_len > 1µs, enabling the LFM signal to cover the mid-to-far point. Compared to existing technologies, this allows for a longer energy accumulation period, increasing echo power, reducing the false negative rate, and thus improving the sensing distance. Simultaneously, the flexible sliding window receiving and detection scheme improves the mid-to-far point sensing coverage performance without increasing the blind zone size. The theoretical performance gain for the mid-to-far point is 10log(N_len), further enhancing detection performance.

[0203] The technical solutions provided in this application can be applied to a variety of systems. For example, applicable systems may include Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5G New Radio (NR) systems and their evolved communication systems, and 6G (sixth generation mobile communication technology) systems. These systems may include terminal equipment and network equipment. The systems may also include a core network component, such as the Evolved Packet Core (EPC) and the 5G Core Network (5GC).

[0204] The embodiments of this application involve transmitting or receiving ends, which may be terminal devices, devices that provide voice and / or data connectivity to users, handheld devices with wireless connectivity, or other processing devices connected to a wireless modem. The names of terminal devices may differ in different systems; for example, in 5G or 6G systems, terminal devices may be called User Equipment (UE). Wireless terminal devices may be USB storage devices, other personal computer memory devices, and dongles. They may also communicate with one or more core networks (CNs) via a Radio Access Network (RAN). Wireless terminal devices may be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices, for example, portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the radio access network. Examples of such devices include Personal Communication Service (PCS) telephones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), personal computers, tablets, and Machine-type Communication (MTC) terminal devices. Wireless terminal devices can also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile devices, remote stations, access points, remote terminals, access terminals, user terminals, user agents, user devices, and wireless access devices and routers / modems that meet the limitations of this definition; however, this application does not limit the scope of the embodiments.

[0205] The base station involved in this application embodiment may include multiple cells providing services to terminals. Depending on the specific application, the base station may also be called an access point, or a device in the access network that communicates with wireless terminal devices through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in this application embodiment may be an evolved Node B (eNB or e-NodeB) in a long-term evolution (LTE) system, a 5G base station (gNB) in a next-generation 5G network architecture, or a Homeevolved Node B (HeNB), relay node, femto, pico, network testing equipment, etc., and is not limited in this application embodiment. In some network architectures, network devices may include centralized unit (CU) nodes and distributed unit (DU) nodes, which may also be geographically separated.

[0206] like Figure 10 As shown, the signal transmitting device of this application embodiment, applied at the transmitting end, includes: a processor 1000, used to read the program in the memory 1020 and execute the following processes:

[0207] Send an LFM signal, wherein the transmission duration of the LFM signal meets the following requirements:

[0208] N_len > 1us, where N_len represents the transmission duration.

[0209] Transceiver 1010 is used to receive and send data under the control of processor 1000.

[0210] Among them, Figure 10In this context, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1000) and memory (memory 1020). The bus architecture may 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 1010 may be multiple elements, including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium. The processor 1000 is responsible for managing the bus architecture and general processing, and the memory 1020 may store data used by the processor 1000 during operation.

[0211] The processor 1000 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.

[0212] The processor 1000 is responsible for managing the bus architecture and general processing, while the memory 1020 can store the data used by the processor 1000 when performing operations.

[0213] Optionally, the LFM signal may include one or more different sensing waveforms.

[0214] Optionally, the sensing waveform includes one or more of the following waveforms:

[0215] The first waveform is formed by combining or merging two sub-LFM waveforms;

[0216] The second waveform is formed by merging three sub-LFM pulses, or it includes a first part and a second part, wherein the first part is formed based on two sub-LFM pulses that are frequency-adjacent to each other among the three sub-LFM pulses, and the second part is formed based on the portion of the three sub-LFM pulses other than the pulse used to form the first part;

[0217] The third waveform is formed by merging four sub-LFM pulses, or the third waveform includes a third part and a fourth part, wherein the third part is formed based on at least two sub-LFM pulses that are frequency-adjacent among the four sub-LFM pulses, and the fourth part is formed based on the portion of the four sub-LFM pulses other than the pulse used to form the third part.

[0218] Optionally, if the first waveform is formed by combining two sub-LFM waveforms, the first sub-LFM pulse is an up-modulated signal, and the second sub-LFM pulse is a down-modulated signal; or, the first sub-LFM pulse is a down-modulated signal, and the second sub-LFM pulse is an up-modulated signal; or...

[0219] If the first waveform is formed by merging two sub-LFM waveforms, the two sub-LFM waveforms are merged into a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal.

[0220] Optionally, if the second waveform is formed by combining the three sub-LFM pulses, the three sub-LFM pulses are combined into a single frequency modulation signal, which is either an up-modulated signal or a down-modulated signal; or,

[0221] If the second waveform includes a first part and a second part, the frequency modulation direction corresponding to the first part and the frequency modulation direction corresponding to the second part are the same or different.

[0222] Optionally, the first part is a first frequency-modulated signal formed by combining all of two sub-LFM pulses that are adjacent in frequency, and the second part is a second frequency-modulated signal formed by sub-LFM pulses other than the two sub-LFM pulses; the frequency modulation directions of the first frequency-modulated signal and the second frequency-modulated signal are the same or different; or,

[0223] The three sub-LFM pulses include a third sub-LFM pulse, a fourth sub-LFM pulse, and a fifth sub-LFM pulse; the first part is a third frequency modulation signal formed by merging the entire third sub-LFM pulse and the first sub-part of the fourth sub-LFM pulse; the second part is a fourth frequency modulation signal formed by merging the second sub-part of the fourth sub-LFM pulse and the fifth sub-LFM pulse; the third sub-LFM pulse and the fourth sub-LFM pulse are adjacent in frequency, and the fourth sub-LFM pulse and the fifth sub-LFM pulse are adjacent in frequency; the frequency modulation directions of the third frequency modulation signal and the fourth frequency modulation signal are different, and the frequency difference between the first sub-part and the third sub-LFM pulse is smaller than the frequency difference between the second sub-part and the third sub-LFM pulse.

[0224] Optionally, if the third waveform is formed by combining four sub-LFM pulses, the four sub-LFM pulses combine to form a frequency modulation signal, and the frequency modulation signal is an up-modulated signal or a down-modulated signal; or,

[0225] If the third waveform includes a third part and a fourth part, the frequency modulation direction corresponding to the third part and the frequency modulation direction corresponding to the fourth part are the same or different.

[0226] Optionally, the third part is a frequency-modulated signal formed by merging two adjacent sub-LFM pulses, and the fourth part is formed by sub-LFM pulses other than the two sub-LFM pulses. The frequency modulation direction corresponding to the third part is different from the frequency modulation direction corresponding to the fourth part; or,

[0227] The third part is a frequency-modulated signal formed by merging three sub-LFM pulses that are adjacent in frequency. The fourth part is formed by sub-LFM pulses other than the three sub-LFM pulses. The frequency modulation direction corresponding to the third part is the same as or different from the frequency modulation direction corresponding to the fourth part.

[0228] Optionally, the processor 1000 is further configured to read the computer program in the memory and perform the following operations:

[0229] The sensing waveform corresponding to the transmitting end is determined based on the configuration information of the upper-layer node or based on the cell identifier corresponding to the transmitting end.

[0230] 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.

[0231] like Figure 11 As shown, the signal detection device of this application embodiment, applied at a receiving end, includes: a processor 1100, used to read a program from a memory 1120 and execute the following processes:

[0232] Determine one or more detection sliding windows for receiving LFM signals;

[0233] The echo signal of the LFM signal is received and detected using the detection sliding window;

[0234] The transmission duration of the LFM signal shall meet the following requirements:

[0235] N_len > 1us, where N_len represents the transmission duration.

[0236] Transceiver 1110 is used to receive and send data under the control of processor 1100.

[0237] Among them, Figure 11In this context, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 1100) and memory (memory 1120). The bus architecture may 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 1110 may be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. The processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1120 may store data used by the processor 1100 during operation.

[0238] The processor 1100 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.

[0239] The processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1120 can store the data used by the processor 1100 when performing operations.

[0240] Optionally, determining one or more detection sliding windows for receiving LFM signals includes:

[0241] Determine N_len detection windows, where the length of the Mth detection window is M us, 1≤M≤N_len, and M is an integer.

[0242] Optionally, the step of receiving and detecting the echo signal of the LFM signal using the detection sliding window includes:

[0243] If 1≤M<N_len, for the Mth detection sliding window, it slides with Mus as the sliding window length within a time period of X us after the signal reception start time, receives the first sensing waveform of the LFM signal, and detects the first sensing waveform. The first sensing waveform includes the sensing waveform within Mus before the LFM signal transmission end time, X=M+1.

[0244] If M = N_len, for the N_len detection sliding window, it slides within the entire reception window of the LFM signal after the signal reception start time, receives the second sensing waveform of the LFM signal, and detects the second sensing waveform, which is the entire sensing waveform of the LFM signal.

[0245] Optionally, the detection window for receiving the LFM signal includes a detection window with a preset duration; the step of receiving and detecting the echo signal of the LFM signal using the detection window includes:

[0246] The detection window is slid from the moment the LFM signal is transmitted to acquire the echo signal, the length of which is Lus;

[0247] Set the signal in the first N μs of the echo signal to 0, where N = N_len, L is an integer greater than or equal to 1 and L ≥ N;

[0248] A matching signal is determined, wherein the length of the matching signal is N μs, and the waveform used by the matching signal is the same as the waveform used by the LFM signal;

[0249] Using the transmission time of the LFM signal as the starting point of the search, the echo signal of the LFM signal is searched within the detection sliding window;

[0250] The detection result is obtained by matching the echo signal searched within the detection sliding window with the matching signal.

[0251] 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.

[0252] like Figure 12 As shown, the signal transmitting device of this application embodiment is applied at the transmitting end and includes:

[0253] The first transmitting unit 1201 is used to transmit an LFM signal, wherein the transmission duration of the LFM signal meets the following requirements:

[0254] N_len > 1us, where N_len represents the transmission duration.

[0255] Optionally, the LFM signal may include one or more different sensing waveforms.

[0256] Optionally, the sensing waveform includes one or more of the following waveforms:

[0257] The first waveform is formed by combining or merging two sub-LFM waveforms;

[0258] The second waveform is formed by merging three sub-LFM pulses, or it includes a first part and a second part, wherein the first part is formed based on two sub-LFM pulses that are frequency-adjacent to each other among the three sub-LFM pulses, and the second part is formed based on the portion of the three sub-LFM pulses other than the pulse used to form the first part;

[0259] The third waveform is formed by merging four sub-LFM pulses, or the third waveform includes a third part and a fourth part, wherein the third part is formed based on at least two sub-LFM pulses that are frequency-adjacent among the four sub-LFM pulses, and the fourth part is formed based on the portion of the four sub-LFM pulses other than the pulse used to form the third part.

[0260] Optionally, if the first waveform is formed by combining two sub-LFM waveforms, the first sub-LFM pulse is an up-modulated signal, and the second sub-LFM pulse is a down-modulated signal; or, the first sub-LFM pulse is a down-modulated signal, and the second sub-LFM pulse is an up-modulated signal; or...

[0261] If the first waveform is formed by merging two sub-LFM waveforms, the two sub-LFM waveforms are merged into a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal.

[0262] Optionally, if the second waveform is formed by combining the three sub-LFM pulses, the three sub-LFM pulses are combined into a single frequency modulation signal, which is either an up-modulated signal or a down-modulated signal; or,

[0263] If the second waveform includes a first part and a second part, the frequency modulation direction corresponding to the first part and the frequency modulation direction corresponding to the second part are the same or different.

[0264] Optionally, the first part is a first frequency-modulated signal formed by combining all of two sub-LFM pulses that are adjacent in frequency, and the second part is a second frequency-modulated signal formed by sub-LFM pulses other than the two sub-LFM pulses; the frequency modulation directions of the first frequency-modulated signal and the second frequency-modulated signal are the same or different; or,

[0265] The three sub-LFM pulses include a third sub-LFM pulse, a fourth sub-LFM pulse, and a fifth sub-LFM pulse; the first part is a third frequency modulation signal formed by merging the entire third sub-LFM pulse and the first sub-part of the fourth sub-LFM pulse; the second part is a fourth frequency modulation signal formed by merging the second sub-part of the fourth sub-LFM pulse and the fifth sub-LFM pulse; the third sub-LFM pulse and the fourth sub-LFM pulse are adjacent in frequency, and the fourth sub-LFM pulse and the fifth sub-LFM pulse are adjacent in frequency; the frequency modulation directions of the third frequency modulation signal and the fourth frequency modulation signal are different, and the frequency difference between the first sub-part and the third sub-LFM pulse is smaller than the frequency difference between the second sub-part and the third sub-LFM pulse.

[0266] Optionally, if the third waveform is formed by combining four sub-LFM pulses, the four sub-LFM pulses combine to form a frequency modulation signal, and the frequency modulation signal is an up-modulated signal or a down-modulated signal; or,

[0267] If the third waveform includes a third part and a fourth part, the frequency modulation direction corresponding to the third part and the frequency modulation direction corresponding to the fourth part are the same or different.

[0268] Optionally, the third part is a frequency-modulated signal formed by merging two adjacent sub-LFM pulses, and the fourth part is formed by sub-LFM pulses other than the two sub-LFM pulses. The frequency modulation direction corresponding to the third part is different from the frequency modulation direction corresponding to the fourth part; or,

[0269] The third part is a frequency-modulated signal formed by merging three sub-LFM pulses that are adjacent in frequency. The fourth part is formed by sub-LFM pulses other than the three sub-LFM pulses. The frequency modulation direction corresponding to the third part is the same as or different from the frequency modulation direction corresponding to the fourth part.

[0270] Optionally, the device may further include:

[0271] The determining unit is used to determine the sensing waveform corresponding to the transmitting end based on the configuration information of the upper-layer node or based on the cell identifier corresponding to the transmitting end.

[0272] 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.

[0273] like Figure 13 As shown, the signal detection device of this application embodiment is applied at the receiving end and includes:

[0274] The first determining unit 1301 is used to determine one or more detection sliding windows for receiving LFM signals;

[0275] The first detection unit 1302 is used to receive and detect the echo signal of the LFM signal using the detection sliding window;

[0276] The transmission duration of the LFM signal shall meet the following requirements:

[0277] N_len > 1us, where N_len represents the transmission duration.

[0278] Optionally, the first determining unit 1301 is further configured to determine N_len detection sliding windows, wherein the window length of the Mth detection sliding window is M us, 1≤M≤N_len, and M is an integer. The first detection unit 1302 is further configured to:

[0279] If 1≤M<N_len, for the Mth detection sliding window, it slides with Mus as the sliding window length within a time period of X us after the signal reception start time, receives the first sensing waveform of the LFM signal, and detects the first sensing waveform. The first sensing waveform includes the sensing waveform within Mus before the LFM signal transmission end time, X=M+1.

[0280] If M = N_len, for the N_len detection sliding window, it slides within the entire reception window of the LFM signal after the signal reception start time, receives the second sensing waveform of the LFM signal, and detects the second sensing waveform, which is the entire sensing waveform of the LFM signal.

[0281] Optionally, the detection window for receiving the LFM signal includes a detection window with a preset duration; the first detection unit 1302 is further configured to:

[0282] The detection window is slid from the moment the LFM signal is transmitted to acquire the echo signal, the length of which is Lus;

[0283] Set the signal in the first N μs of the echo signal to 0, where N = N_len, L is an integer greater than or equal to 1 and L ≥ N;

[0284] A matching signal is determined, wherein the length of the matching signal is N μs, and the waveform used by the matching signal is the same as the waveform used by the LFM signal;

[0285] Using the transmission time of the LFM signal as the starting point of the search, the echo signal of the LFM signal is searched within the detection sliding window;

[0286] The detection result is obtained by matching the echo signal searched within the detection sliding window with the matching signal.

[0287] 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.

[0288] 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.

[0289] 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 computer 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.

[0290] This application also provides a communication device, including: a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the signal transmission or signal detection method described above.

[0291] This application also provides a computer program product, including computer instructions. When executed by a processor, the computer instructions implement the various processes of the above-described signal transmission or signal detection method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0292] This application also provides a processor-readable storage medium storing a program. When executed by a processor, this program implements the various processes of the above-described signal transmission or signal detection method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here. The readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0293] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0294] 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.

[0295] This application describes embodiments of methods, apparatus (systems), and computer program products according to embodiments of this application with reference to flowchart illustrations and / or block diagrams. 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 illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0296] 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.

[0297] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of the embodiments of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of the embodiments of this application and their equivalents, then the embodiments of this application are also intended to include these modifications and variations.

Claims

1. A signal detection method, characterized in that, The application receiver includes: Determine one or more detection sliding windows for receiving linear frequency modulated (LFM) signals; The echo signal of the LFM signal is received and detected using the detection sliding window; The transmission duration of the LFM signal shall meet the following requirements: N_len > 1us, where N_len represents the transmission duration.

2. The method according to claim 1, characterized in that, The determination of one or more detection sliding windows for receiving linear frequency modulated (LFM) signals includes: Determine N_len detection windows, where the length of the Mth detection window is M us, 1≤M≤N_len, and M is an integer.

3. The method according to claim 1, characterized in that, The step of receiving and detecting the echo signal of the LFM signal using the detection sliding window includes: If 1≤M<N_len, for the Mth detection sliding window, it slides with a sliding window length of M us within a time period of X us after the signal reception start time, receives the first sensing waveform of the LFM signal, and detects the first sensing waveform. The first sensing waveform includes the sensing waveform within M us before the LFM signal transmission end time, X=M+1. If M = N_len, for the N_len detection sliding window, it slides within the entire reception window of the LFM signal after the signal reception start time, receives the second sensing waveform of the LFM signal, and detects the second sensing waveform, which is the entire sensing waveform of the LFM signal.

4. The method according to claim 1, characterized in that, The detection sliding window for receiving LFM signals includes a detection sliding window with a preset duration; the step of receiving and detecting the echo signal of the LFM signal using the detection sliding window includes: The detection window is slid from the moment the LFM signal is transmitted to acquire the echo signal, the length of which is Lus; Set the signal in the first N μs of the echo signal to 0, where N = N_len, L is an integer greater than or equal to 1 and L ≥ N; A matching signal is determined, wherein the length of the matching signal is N μs, and the waveform used by the matching signal is the same as the waveform used by the LFM signal; Using the transmission time of the LFM signal as the starting point of the search, the echo signal of the LFM signal is searched within the detection sliding window; The detection result is obtained by matching the echo signal searched within the detection sliding window with the matching signal.

5. A signal transmission method, characterized in that, Applied to the sending end, including: Send an LFM signal, wherein the transmission duration of the LFM signal meets the following requirements: N_len > 1us, where N_len represents the transmission duration.

6. The method according to claim 5, characterized in that, The LFM signal includes one or more different sensing waveforms.

7. The method according to claim 6, characterized in that, The sensing waveform includes one or more of the following waveforms: The first waveform is formed by combining or merging two sub-LFM waveforms; The second waveform is formed by merging three sub-LFM pulses, or it includes a first part and a second part, wherein the first part is formed based on two sub-LFM pulses that are frequency-adjacent to each other among the three sub-LFM pulses, and the second part is formed based on the portion of the three sub-LFM pulses other than the pulse used to form the first part; The third waveform is formed by merging four sub-LFM pulses, or the third waveform includes a third part and a fourth part, wherein the third part is formed based on at least two sub-LFM pulses that are frequency-adjacent among the four sub-LFM pulses, and the fourth part is formed based on the portion of the four sub-LFM pulses other than the pulse used to form the third part.

8. The method according to claim 7, characterized in that, If the first waveform is formed by combining two sub-LFM waveforms, the first sub-LFM pulse is an up-modulated signal, and the second sub-LFM pulse is a down-modulated signal; or, the first sub-LFM pulse is a down-modulated signal, and the second sub-LFM pulse is an up-modulated signal; or... If the first waveform is formed by merging two sub-LFM waveforms, the two sub-LFM waveforms are merged into a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal.

9. The method according to claim 7, characterized in that, If the second waveform is formed by combining the three sub-LFM pulses, the three sub-LFM pulses are combined into a single frequency modulation signal, which is either an up-modulated signal or a down-modulated signal; or... If the second waveform includes a first part and a second part, the frequency modulation direction corresponding to the first part and the frequency modulation direction corresponding to the second part are the same or different.

10. The method according to claim 9, characterized in that, The first part is a first frequency-modulated signal formed by combining all of two sub-LFM pulses that are adjacent in frequency; the second part is a second frequency-modulated signal formed by sub-LFM pulses other than the two sub-LFM pulses; the frequency modulation directions of the first frequency-modulated signal and the second frequency-modulated signal are the same or different; or, The three sub-LFM pulses include a third sub-LFM pulse, a fourth sub-LFM pulse, and a fifth sub-LFM pulse; the first part is a third frequency modulation signal formed by merging the entire third sub-LFM pulse and the first sub-part of the fourth sub-LFM pulse; the second part is a fourth frequency modulation signal formed by merging the second sub-part of the fourth sub-LFM pulse and the fifth sub-LFM pulse; the third sub-LFM pulse and the fourth sub-LFM pulse are adjacent in frequency, and the fourth sub-LFM pulse and the fifth sub-LFM pulse are adjacent in frequency; the frequency modulation directions of the third frequency modulation signal and the fourth frequency modulation signal are different, and the frequency difference between the first sub-part and the third sub-LFM pulse is smaller than the frequency difference between the second sub-part and the third sub-LFM pulse.

11. The method according to claim 7, characterized in that, If the third waveform is formed by combining four sub-LFM pulses, and the four sub-LFM pulses combine to form a frequency modulation signal, the frequency modulation signal is either an up-modulated signal or a down-modulated signal; or... If the third waveform includes a third part and a fourth part, the frequency modulation direction corresponding to the third part and the frequency modulation direction corresponding to the fourth part are the same or different.

12. The method according to claim 11, characterized in that, The third part is a frequency-modulated signal formed by merging two adjacent sub-LFM pulses; the fourth part is formed by sub-LFM pulses other than the two sub-LFM pulses; the frequency modulation direction corresponding to the third part is different from the frequency modulation direction corresponding to the fourth part; or, The third part is a frequency-modulated signal formed by merging three sub-LFM pulses that are adjacent in frequency. The fourth part is formed by sub-LFM pulses other than the three sub-LFM pulses. The frequency modulation direction corresponding to the third part is the same as or different from the frequency modulation direction corresponding to the fourth part.

13. The method according to any one of claims 6-12, characterized in that, The method further includes: The sensing waveform corresponding to the transmitting end is determined based on the configuration information of the upper-layer node or based on the cell identifier corresponding to the transmitting end.

14. A signal detection device, characterized in that, Applications at the receiving end include: 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: Determine one or more detection sliding windows for receiving LFM signals; The echo signal of the LFM signal is received and detected using the detection sliding window; The transmission duration of the LFM signal shall meet the following requirements: N_len > 1us, where N_len represents the transmission duration.

15. The apparatus according to claim 14, characterized in that, The determination of one or more detection sliding windows for receiving LFM signals includes: Determine N_len detection windows, where the length of the Mth detection window is M us, 1≤M≤N_len, and M is an integer.

16. The apparatus according to claim 15, characterized in that, The step of receiving and detecting the echo signal of the LFM signal using the detection sliding window includes: If 1≤M<N_len, for the Mth detection sliding window, it slides with a sliding window length of M us within a time period of X us after the signal reception start time, receives the first sensing waveform of the LFM signal, and detects the first sensing waveform. The first sensing waveform includes the sensing waveform within Mus before the LFM signal transmission end time, X=M+1. If M = N_len, for the N_len detection sliding window, it slides within the entire reception window of the LFM signal after the signal reception start time, receives the second sensing waveform of the LFM signal, and detects the second sensing waveform, which is the entire sensing waveform of the LFM signal.

17. The apparatus according to claim 14, characterized in that, The detection sliding window for receiving LFM signals includes a detection sliding window with a preset duration; the step of receiving and detecting the echo signal of the LFM signal using the detection sliding window includes: The detection window is slid from the moment the LFM signal is transmitted to acquire the echo signal, the length of which is Lus; Set the signal in the first N μs of the echo signal to 0, where N = N_len, L is an integer greater than or equal to 1 and L ≥ N; A matching signal is determined, wherein the length of the matching signal is N μs, and the waveform used by the matching signal is the same as the waveform used by the LFM signal; Using the transmission time of the LFM signal as the starting point of the search, the echo signal of the LFM signal is searched within the detection sliding window; The detection result is obtained by matching the echo signal searched within the detection sliding window with the matching signal.

18. A signal transmitting device, characterized in that, Applications at the transmitting end include: 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: Send an LFM signal, wherein the transmission duration of the LFM signal meets the following requirements: N_len > 1us, where N_len represents the transmission duration.

19. The apparatus according to claim 18, characterized in that, The LFM signal includes one or more different sensing waveforms.

20. The apparatus according to claim 19, characterized in that, The sensing waveform includes one or more of the following waveforms: The first waveform is formed by combining or merging two sub-LFM waveforms; The second waveform is formed by merging three sub-LFM pulses, or it includes a first part and a second part, wherein the first part is formed based on two sub-LFM pulses that are frequency-adjacent to each other among the three sub-LFM pulses, and the second part is formed based on the portion of the three sub-LFM pulses other than the pulse used to form the first part; The third waveform is formed by merging four sub-LFM pulses, or the third waveform includes a third part and a fourth part, wherein the third part is formed based on at least two sub-LFM pulses that are frequency-adjacent among the four sub-LFM pulses, and the fourth part is formed based on the portion of the four sub-LFM pulses other than the pulse used to form the third part.

21. The apparatus according to claim 20, characterized in that, If the first waveform is formed by combining two sub-LFM waveforms, the first sub-LFM pulse is an up-modulated signal, and the second sub-LFM pulse is a down-modulated signal; or, the first sub-LFM pulse is a down-modulated signal, and the second sub-LFM pulse is an up-modulated signal; or... If the first waveform is formed by merging two sub-LFM waveforms, the two sub-LFM waveforms are merged into a frequency modulation signal, and the frequency modulation signal is an up-modulation signal or a down-modulation signal.

22. The apparatus according to claim 20, characterized in that, If the second waveform is formed by combining the three sub-LFM pulses, the three sub-LFM pulses are combined into a single frequency modulation signal, which is either an up-modulated signal or a down-modulated signal; or... If the second waveform includes a first part and a second part, the frequency modulation direction corresponding to the first part and the frequency modulation direction corresponding to the second part are the same or different.

23. The apparatus according to claim 22, characterized in that, The first part is a first frequency-modulated signal formed by combining all of two sub-LFM pulses that are adjacent in frequency; the second part is a second frequency-modulated signal formed by sub-LFM pulses other than the two sub-LFM pulses; the frequency modulation directions of the first frequency-modulated signal and the second frequency-modulated signal are the same or different; or, The three sub-LFM pulses include a third sub-LFM pulse, a fourth sub-LFM pulse, and a fifth sub-LFM pulse; the first part is a third frequency modulation signal formed by merging the entire third sub-LFM pulse and the first sub-part of the fourth sub-LFM pulse; the second part is a fourth frequency modulation signal formed by merging the second sub-part of the fourth sub-LFM pulse and the fifth sub-LFM pulse; the third sub-LFM pulse and the fourth sub-LFM pulse are adjacent in frequency, and the fourth sub-LFM pulse and the fifth sub-LFM pulse are adjacent in frequency; the frequency modulation directions of the third frequency modulation signal and the fourth frequency modulation signal are different, and the frequency difference between the first sub-part and the third sub-LFM pulse is smaller than the frequency difference between the second sub-part and the third sub-LFM pulse.

24. The apparatus according to claim 20, characterized in that, If the third waveform is formed by combining four sub-LFM pulses, and the four sub-LFM pulses combine to form a frequency modulation signal, the frequency modulation signal is either an up-modulated signal or a down-modulated signal; or... If the third waveform includes a third part and a fourth part, the frequency modulation direction corresponding to the third part and the frequency modulation direction corresponding to the fourth part are the same or different.

25. The apparatus according to claim 24, characterized in that, The third part is a frequency-modulated signal formed by merging two adjacent sub-LFM pulses; the fourth part is formed by sub-LFM pulses other than the two sub-LFM pulses; the frequency modulation direction corresponding to the third part is different from the frequency modulation direction corresponding to the fourth part; or, The third part is a frequency-modulated signal formed by merging three sub-LFM pulses that are adjacent in frequency. The fourth part is formed by sub-LFM pulses other than the three sub-LFM pulses. The frequency modulation direction corresponding to the third part is the same as or different from the frequency modulation direction corresponding to the fourth part.

26. The apparatus according to any one of claims 19-25, characterized in that, The processor is also configured to read the computer program in the memory and perform the following operations: The sensing waveform corresponding to the transmitting end is determined based on the configuration information of the upper-layer node or based on the cell identifier corresponding to the transmitting end.

27. A signal detection device, characterized in that, Applied to the receiving end, including: The first determining unit is used to determine one or more detection sliding windows for receiving LFM signals; The first detection unit is used to receive and detect the echo signal of the LFM signal using the detection sliding window; The transmission duration of the LFM signal shall meet the following requirements: N_len > 1us, where N_len represents the transmission duration.

28. A signal transmitting device, characterized in that, Applied to the sending end, including: The first transmitting unit is used to transmit an LFM signal, wherein the transmission duration of the LFM signal meets the following requirements: N_len > 1us, where N_len represents the transmission duration.

29. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a program for causing the processor to perform the method as described in any one of claims 1 to 13.

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