Perception method and communication device

Abstract

The invention discloses a sensing method and a communication device, relates to the field of communication sensing, and provides a two-dimensional discrete m sequence which can realize a sensing function of access network equipment. The method comprises the steps that a first sequence is generated, a first sensing signal is sent, the first sequence is obtained by converting an m sequence according to a cyclic shift value and Doppler frequency offset, and the first sensing signal is determined according to the first sequence.

Description

Sensing method and communication device Technical Field

[0001] The present application relates to the field of communication perception, and in particular to a perception method and a communication device. Background Art

[0002] Radar obtains the target's physical information (such as distance, speed, angle, etc.) by transmitting sensing signals and receiving echo signals. The choice of sensing signals will greatly affect the performance of the radar. Co-located (C) multiple input multiple output (MIMO) radar (hereinafter referred to as C-MIMO radar) has the advantage of high angular resolution and can send multiple sensing signals. In the integration of communication and perception, the sensing function of access network equipment helps to improve the accuracy and efficiency of communication. By taking advantage of the multiple antennas of access network equipment, the functions of C-MIMO radar can be integrated into the access network equipment. However, how to realize the sensing function of access network equipment has become an urgent problem to be solved.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a perception method and a communication device, and design a two-dimensional discrete m-sequence as a perception sequence to realize the perception function of an access network device.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, a sensing method is provided. This method can be performed by an access network device, or by a component of the access network device, such as a processor, chip, or chip system of the access network device. It can also be implemented by a logic module or software that implements all or part of the access network device. The method includes: generating a first sequence, where the first sequence is obtained by transforming a modulated m-sequence based on a cyclic shift value and a Doppler frequency offset; and transmitting a first sensing signal, where the first sensing signal is determined based on the first sequence.

[0007] Based on this perception method, the access network device transforms the modulated m-sequence according to the Doppler frequency offset and cyclic shift values ​​to obtain a two-dimensional discrete m-sequence, i.e., a first sequence. The first sequence has good autocorrelation function characteristics and fuzzy function characteristics, so that target perception is achieved based on the perception signal constructed according to the first sequence. Moreover, when performing MIMO perception, by setting different Doppler frequency offset and cyclic shift values ​​of the first sequence, the access network device can distinguish the echo signals of multiple perception signals transmitted by itself, and can also distinguish the echo signals corresponding to perception signals sent by other access network devices.

[0008] In the embodiment of the present application, the m-sequence itself is a sequence composed of 0 and 1, and the modulated m-sequence is a sequence in which 0 in the m-sequence is changed to 1 and 1 is changed to -1, that is, the modulated m-sequence is a sequence composed of 1 and -1.

[0009] In one possible design, the first sequence is obtained by transforming a modulated m-sequence according to a cyclic shift value and a Doppler frequency offset, which may include: the first sequence is obtained by transforming a second sequence according to the cyclic shift value and the Doppler frequency offset, and the second sequence is obtained by performing a discrete Fourier transform on the modulated m-sequence. In other words, the access network device may obtain a discrete frequency domain sequence (i.e., the second sequence) of length L by performing a discrete Fourier transform (DFT) on the modulated m-sequence of length L, and then transform the second sequence according to a selected cyclic shift value and Doppler spectrum to obtain the first sequence.

[0010] In one possible design, the mutual ambiguity function between two first sequences differing in at least one of cyclic shift values ​​and Doppler frequency offset is obtained by shifting the self-ambiguity function of the second sequence on a delay-Doppler frequency offset plane according to at least one of the difference between the cyclic shift values ​​and the difference between the Doppler frequency offsets of the two first sequences. In other words, the mutual ambiguity function between any two first sequences differing in at least one of cyclic shift values ​​and Doppler frequency offset can be obtained by shifting the self-ambiguity function of an m-sequence that has been modulated and discrete Fourier transformed (DFT) according to the difference in cyclic shift values ​​and / or the difference in Doppler frequency offset between the two first sequences.

[0011] In a possible design, the m sequence corresponds to the d-order primitive polynomial, and the first sequence has (2 d -1) 2 The length of the first sequence is 2 d -1, d is a positive integer. Since the cyclic shift value of a first sequence is 2 d -1 possible value, and each cyclic shift value corresponds to 2 d -1 Doppler frequency deviation, so for a d-order primitive polynomial m sequence, we can construct (2 d -1) 2 Two-dimensional discrete m-sequences. That is, the first sequence has (2 d -1) 2 The first sequence can be (2 d -1) 2 It can be seen that the possible values ​​of the first sequence are far more than those of the m sequence, which increases the sequence capacity.

[0012] In one possible design, the cyclic shift value is related to the maximum delay value, which is the maximum delay between sending a perception signal and receiving an echo signal within the perception range. The Doppler deviation is related to the maximum Doppler deviation value, which is the maximum Doppler deviation of an echo signal generated by the motion of a perceived target within the perception range. In this embodiment of the present application, the cyclic shift value and Doppler deviation constituting the first sequence can be determined based on the maximum delay and maximum Doppler deviation value, respectively, within the perception range to ensure that the perception signal comprising the first sequence can perceive targets within the perception range.

[0013] In a possible design, the cyclic shift value can satisfy the following relationship: u =u*a,p u <L;where, p u is the cyclic shift value, a is the maximum delay value, u is the first multiple value, L is the length of the first sequence, p u , a, u, and L are positive integers. That is, the cyclic shift value of the first sequence is an integer multiple of the maximum delay value. Therefore, the access network device can determine different cyclic shift values ​​by selecting different first multiple values, thereby determining different first sequences.

[0014] In one possible design, the Doppler frequency shift can satisfy the following relationship: θ v =v*b, Among them, θ v is the Doppler frequency shift, is the maximum Doppler frequency offset value, L×b is an integer multiple of 2π, v is the second multiple value, L is the length of the first sequence, and v is a positive integer. In other words, the Doppler frequency offset of the first sequence is an integer multiple of 2 times the maximum Doppler frequency offset value. The access network device can determine different Doppler frequency offsets and, therefore, different first sequences, by selecting different second multiple values.

[0015] In one possible design, the nth element in the first sequence can satisfy the following relationship: in, For B=[k0,k1,…,k L-1 ], n is the element number in the first sequence, θ v is the Doppler frequency shift, p u is the cyclic shift value, L is the length of the first sequence, B is the second sequence obtained by performing discrete Fourier transform on the modulated m sequence, and n and L are positive integers.

[0016] In a possible design, the self-ambiguity function of the first sequence has a unique peak value, so as to have Doppler resistance and uniquely identify the first sequence.

[0017] In one possible design, the peak is located on the delay-Doppler frequency shift plane. In the range, a is the maximum delay value, is the maximum Doppler frequency deviation value, θ v is the Doppler frequency shift.

[0018] In one possible design, the mutual ambiguity function between the first and second sequences is obtained by translating the self-ambiguity function of the second sequence on the delay-Doppler frequency offset plane according to the cyclic shift value of the first sequence and the Doppler frequency offset. In other words, the mutual ambiguity function generated by the first and second sequences in the embodiment of the present application also has a single peak, and the location of the peak can be determined by translating the self-ambiguity function of the second sequence.

[0019] In one possible design, the peak of the mutual ambiguity function of the third sequence relative to the fourth sequence lies on a delay plane outside [0, a]. The third and fourth sequences are first sequences with the same Doppler frequency offset but different cyclic shift values. Thus, the fourth sequence serves as an interference sequence for the third sequence. When the access network device transmits multiple first perception signals, the multiple first perception signals can be generated by the first sequence with the same Doppler frequency offset but different cyclic shift values. When the first perception signal generated by the third sequence serves as the target perception signal, the peak of the mutual ambiguity function caused by the interference of the echo signal generated by any other sequence (e.g., the fourth sequence) with the third sequence and the target perception signal lies on a delay plane outside [0, a]. This allows the access network device to distinguish the peak of the echo signal corresponding to the target perception signal in the received mixed signal based on the characteristics of the mutual ambiguity function. Furthermore, the access network device can determine information such as the relative position and relative velocity of the perceived target based on the delay and Doppler frequency offset position of the peak between the target perception signal and the corresponding echo signal.

[0020] In one possible design, the peak of the mutual ambiguity function of the fifth sequence relative to the sixth sequence is located at On the Doppler frequency offset plane other than θ, the fifth and sixth sequences are the first sequences with different Doppler frequency offsets, θ v1is the Doppler frequency offset of the fifth sequence. Therefore, the sixth sequence serves as an interference signal to the fifth sequence. In a scenario where multiple access network devices are performing perception, different access network devices can use first sequences with different Doppler frequency offsets to generate different first perception signals. When the first perception signal generated by the fifth sequence serves as the target perception signal, for the first perception signal generated by any other first sequence with a Doppler frequency offset different from that of the third sequence, the peak of the mutual ambiguity function caused by the interference of the echo signal generated by the echo signal on the target perception signal is located at The Doppler frequency deviation plane outside the target is not included in the received mixed signal, so that the access network device can distinguish the peak value generated by the echo signal corresponding to the target perception signal in the received mixed signal based on the characteristics of the mutual ambiguity function, and then determine the relative position and relative speed of the perceived target according to the time delay and Doppler frequency deviation position of the peak value generated by the target perception signal and the corresponding echo signal.

[0021] In one possible design, multiple first sequences have the same Doppler frequency offset but different cyclic shift values, and the multiple first sequences include a target sequence. The sensing method provided in this embodiment of the present application may further include: receiving a first mixed signal. Determining, based on the position of a first peak of at least one peak of a mutual ambiguity function formed by the target perception signal and the first mixed signal, whether the first peak is a peak generated by the target perception signal and an echo signal corresponding to the target perception signal. The target perception signal is generated based on the target sequence.

[0022] In one possible design, determining whether the first peak is generated by the target perception signal and the echo signal corresponding to the target perception signal based on the position of the first peak among at least one peak of the mutual ambiguity function formed by the target perception signal and the first mixed signal may include: determining that the first peak is not generated by the target perception signal and the echo signal corresponding to the target perception signal if the first peak is located on a delay plane outside [0, a], where a is the maximum delay value.

[0023] In one possible design, determining whether the first peak is a peak generated by the target perception signal and the echo signal corresponding to the target perception signal based on the position of the first peak of at least one peak of the mutual ambiguity function formed by the target perception signal and the first mixed signal may include: In the case of a Doppler frequency deviation plane other than , it is determined that the first peak is not a peak generated by the target perception signal and the echo signal corresponding to the target perception signal. is the maximum Doppler frequency deviation value, θ v2 is the Doppler frequency deviation of the target sequence.

[0024] In one possible design, determining whether the first peak is a peak generated by the target perception signal and the echo signal corresponding to the target perception signal based on the position of the first peak of at least one peak of the mutual ambiguity function formed by the target perception signal and the first mixed signal may include: In the case of a delay-Doppler frequency shift plane within , the first peak is determined to be the peak generated by the target perception signal and the echo signal corresponding to the target perception signal. Where a is the maximum delay value, is the maximum Doppler frequency deviation value, θ v2 is the Doppler frequency deviation of the target sequence.

[0025] In one possible design, the Doppler frequency offset may be preconfigured, or may be determined through negotiation with other access network devices, or may be configured by a control node.

[0026] In a second aspect, a communication device is provided for implementing the various methods described above. The communication device may be the access network device described in the first aspect, or a device comprising the access network device, or a device included in the access network device, such as a chip. The communication device includes corresponding modules, units, or means for implementing the method described in the first aspect. The modules, units, or means may be implemented in hardware, software, or by executing corresponding software implementations in hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

[0027] In some possible designs, the communication device includes a processing module and a transceiver module. The processing module is configured to generate a first sequence, where the first sequence is obtained by transforming a modulated m-sequence according to a cyclic shift value and a Doppler frequency offset. The transceiver module is configured to transmit a first perception signal, where the first perception signal is determined based on the first sequence.

[0028] In one possible design scheme, the first sequence is obtained by transforming the modulated m-sequence according to the cyclic shift value and the Doppler frequency offset, which may include: the first sequence is obtained by transforming the second sequence according to the cyclic shift value and the Doppler frequency offset, and the second sequence is obtained by performing a discrete Fourier transform on the modulated m-sequence.

[0029] In one possible design scheme, the mutual ambiguity function of two first sequences with at least one different cyclic shift value and Doppler frequency offset is obtained by shifting the self-ambiguity function of the second sequence on the delay-Doppler frequency offset plane according to at least one of the difference between the cyclic shift values ​​of the two first sequences and the difference between the Doppler frequency offset.

[0030] In a possible design, the m sequence corresponds to the d-order primitive polynomial, and the first sequence has (2 d -1) 2The length of the first sequence is 2 d -1, d is a positive integer.

[0031] In one possible design scheme, the cyclic shift is related to the maximum delay value, which is the maximum delay between sending the perception signal and receiving the echo signal within the perception range. The Doppler frequency deviation is related to the maximum Doppler frequency deviation value, which is the maximum Doppler frequency deviation of the echo signal generated by the perceived target motion within the perception range.

[0032] In a possible design, the cyclic shift value can satisfy the following relationship: u =u*a,p u <L;where, p u is the cyclic shift value, a is the maximum delay value, u is the first multiple value, L is the length of the first sequence, p u , a, u, and L are positive integers.

[0033] In one possible design, the Doppler frequency shift can satisfy the following relationship: θ v =v*b, Among them, θ v is the Doppler frequency shift, is the maximum Doppler frequency deviation value, L×b is an integer multiple of 2π, v is the second multiple value, L is the length of the first sequence, and v is a positive integer.

[0034] In one possible design, the nth element in the first sequence can satisfy the following relationship: in, For B=[k0,k1,…,k L-1 ], n is the element number in the first sequence, θ v is the Doppler frequency shift, p u is the cyclic shift value, L is the length of the first sequence, B is the second sequence obtained by performing discrete Fourier transform on the modulated m sequence, and n and L are positive integers.

[0035] In one possible design solution, the self-ambiguity function of the first sequence has a unique peak.

[0036] In one possible design, the peak is located on the delay-Doppler frequency shift plane. In the range, a is the maximum delay value, is the maximum Doppler frequency deviation value, θ v is the Doppler frequency shift.

[0037] In one possible design, the mutual ambiguity function between the first sequence and the second sequence is obtained by shifting the self-ambiguity function of the second sequence on the delay-Doppler frequency offset plane according to the cyclic shift value of the first sequence and the Doppler frequency offset.

[0038] In one possible design scheme, the peak of the mutual ambiguity function of the third sequence relative to the fourth sequence is located on a delay plane outside [0, a], and the third sequence and the fourth sequence are first sequences with the same Doppler frequency offset but different cyclic shift values.

[0039] In one possible design, the peak of the mutual ambiguity function of the fifth sequence relative to the sixth sequence is located at On the Doppler frequency shift plane other than , the fifth sequence and the sixth sequence are the first sequences with different Doppler frequency shifts.

[0040] In one possible design, multiple first sequences have the same Doppler frequency offset but different cyclic shift values, and the first sequences include a target sequence. The transceiver module is further configured to receive a first mixed signal. The processing module is further configured to determine, based on the position of a first peak of at least one peak of a mutual ambiguity function formed by the target perception signal and the first mixed signal, whether the first peak is generated by the target perception signal and an echo signal corresponding to the target perception signal. The target perception signal is generated based on the target sequence.

[0041] In one possible design, the processing module is further configured to determine, based on the position of a first peak of at least one peak of a mutual ambiguity function formed by the target perception signal and the first mixed signal, whether the first peak is generated by the target perception signal and the echo signal corresponding to the target perception signal. This may include: if the first peak is located on a delay plane outside [0, a], the processing module is configured to determine that the first peak is not generated by the target perception signal and the echo signal corresponding to the target perception signal. Where a is a maximum delay value.

[0042] In a possible design solution, the processing module is further configured to determine, based on the position of a first peak of at least one peak of the mutual ambiguity function formed by the target perception signal and the first mixed signal, whether the first peak is a peak generated by the target perception signal and the echo signal corresponding to the target perception signal, which may include: when the first peak is located at In the case of a delay-Doppler frequency shift plane within , the processing module is used to determine that the first peak is not a peak generated by the target perception signal and the echo signal corresponding to the target perception signal. is the maximum Doppler frequency deviation value, θ v2 is the Doppler frequency deviation of the target sequence.

[0043] In a possible design solution, the processing module is further configured to determine, based on the position of a first peak of at least one peak of the mutual ambiguity function formed by the target perception signal and the first mixed signal, whether the first peak is a peak generated by the target perception signal and the echo signal corresponding to the target perception signal, which may include: when the first peak is located at In the case of a Doppler frequency deviation plane other than , the processing module is used to determine that the first peak is the peak generated by the target perception signal and the echo signal corresponding to the target perception signal. Wherein, a is the maximum delay value, is the maximum Doppler frequency deviation value, θ v2 is the Doppler frequency deviation of the target sequence.

[0044] In one possible design, the Doppler frequency offset may be preconfigured, or may be determined through negotiation with other access network devices, or may be configured by a control node.

[0045] In one possible design solution, the transceiver module may include a receiving module and a sending module, wherein the sending module is used to implement the sending function of the communication device described in the second aspect, and the receiving module is used to implement the receiving function of the communication device described in the second aspect.

[0046] In one possible design solution, the communication device described in the second aspect may further include a storage module, wherein the storage module stores a program or instruction. When the processing module executes the program or instruction, the communication device described in the second aspect can execute the method described in the first aspect.

[0047] In a third aspect, a communication device (for example, the communication device may be a chip or a chip system) is provided. The communication device includes: a processor configured to implement the functions involved in the first aspect.

[0048] In one possible design, the communication device may further include a memory for storing necessary program instructions and data. A processor is coupled to the memory, and the processor is configured to execute a computer program or instruction stored in the memory, so that the communication device performs the method described in the first aspect.

[0049] In one possible design solution, the communication device described in the third aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in the third aspect to communicate with other communication devices.

[0050] In one possible design, the processor can be integrated with the memory.

[0051] In some possible designs, when the device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0052] In a fourth aspect, a communication device is provided, which includes a processor and an interface circuit, the interface circuit being used to receive signals from other communication devices outside the communication device and transmit them to the processor or to send signals from the processor to other communication devices outside the communication device, and the processor being used to implement the method described in the first aspect through logic circuits or executing code instructions.

[0053] In the fifth aspect, a communication device is provided, which may be an access network device, or a module or unit (for example, a chip, or a chip system, or a circuit) in the access network device that corresponds one-to-one to the method / operation / step / action described in the first aspect, or may be capable of being used in conjunction with the access network device.

[0054] It can be understood that when the communication device provided in any one of the third aspect or the fifth aspect is a chip, the above-mentioned sending action / function can be understood as output, and the above-mentioned receiving action / function can be understood as input.

[0055] In a sixth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer-readable storage medium is run on a communication device, the communication device can execute the method described in the first aspect above.

[0056] In a seventh aspect, a computer program product comprising instructions is provided, including computer program code, which, when the computer program code is run on a communication device, enables the communication device to execute the method described in the first aspect above.

[0057] In an eighth aspect, a communication system is provided, which is an access network device for implementing the method described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] FIG1 is a diagram showing an image of an autocorrelation function and an ambiguity function of an m-sequence;

[0059] FIG2 is a schematic diagram of the architecture of a perception communication system provided in an embodiment of the present application;

[0060] FIG3 is a flow chart of a sensing method according to an embodiment of the present application;

[0061] FIG4 is a schematic diagram of an image of a self-ambiguity function and a mutual-ambiguity function provided in an embodiment of the present application;

[0062] FIG5 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0063] FIG6 is a schematic structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0064] In order to better understand the embodiments of the present application, the following explanations are made before introducing the embodiments of the present application.

[0065] First, in the embodiments of this application, the terms "first," "second," and various numerical numbers are merely distinctions for ease of description and are not intended to limit the scope of the embodiments of this application. For example, different indication information is used to distinguish between different areas. For another example, the terms "first network area" and "second network area" are merely used to distinguish between different areas and do not limit their order. Those skilled in the art will understand that terms such as "first" and "second" do not limit the number or order of execution, and that terms such as "first" and "second" do not necessarily indicate differences.

[0066] Second, in the embodiments of the present application, descriptions such as "when...", "in the case of...", "if" and "if" all mean that the device (such as a terminal device or a network device) will make corresponding processing under certain objective circumstances. It does not limit the time, nor does it require the device (such as a terminal device or a network device) to perform a judgment action when implementing it, nor does it mean that there are other limitations.

[0067] Third, in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being more preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner to facilitate understanding.

[0068] Fourth, in the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of multiple items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple.

[0069] The following introduces the communication system and applicable network elements involved in the embodiments of the present application, as well as related terms.

[0070] The embodiments of the present application will present various aspects, embodiments, or features around a system that may include multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in conjunction with the figures. Furthermore, combinations of these solutions may also be used.

[0071] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as wireless fidelity (Wi-Fi) systems, vehicle to everything (V2X) communication systems, device-to-device (D2D) communication systems, Internet of Vehicles communication systems, 4th generation (4G) mobile communication systems, such as long term evolution (LTE) systems, world-wide interoperability for microwave access (WiMAX) communication systems, 5th generation (5G) mobile communication systems, such as new radio (NR) systems, and future communication systems, such as 6th generation (6G) mobile communication systems.

[0072] 1. MIMO

[0073] MIMO technology uses multiple transmit and receive antennas at both the transmitter and receiver ends, allowing signals to be transmitted and received via these multiple antennas, thereby improving communication quality. In a MIMO system, the transmitter maps the data signal to be transmitted onto multiple transmit antennas, converting it into multiple data streams and sending them out. Conversely, the multiple receive antennas at the receiver end can each receive the corresponding data streams. Therefore, a MIMO signal is a multi-stream signal.

[0074] 2. MIMO radar

[0075] Radar acquires target physical information (such as range, speed, and angle) by transmitting sensing signals and receiving echo signals. The choice of sensing signal significantly impacts radar performance. Common radar sensing signal metrics include correlation, Doppler resistance, and ambiguity function.

[0076] Traditional radars mostly transmit only a single sensing signal for sensing, while MIMO radars can transmit multiple sensing signals for sensing. MIMO radars typically consist of multiple transmitting antennas and multiple receiving antennas (the antennas can also be shared). Each transmitting antenna emits a different signal waveform. After reflecting off the target, each transmitted signal is received by multiple receiving antennas and then sent to a multi-channel receiver for signal processing. MIMO radars utilize multiple transmitting antennas to transmit waveforms and jointly process the signals received by multiple receiving antennas to improve target detection performance. MIMO radars can be divided into two categories based on the spatial distribution of radar stations. One category is MIMO radars with centralized antenna deployment, known as centralized MIMO (C-MIMO) radars. C-MIMO radars can also be referred to as co-sited MIMO radars, monostatic MIMO radars, etc., without limitation. The other category is MIMO radars with distributed antenna deployments, known as distributed MIMO (D-MIMO) radars. D-MIMO radars can also be referred to as distributed MIMO radars, etc., without limitation.

[0077] In C-MIMO radar, antennas perform both transmit and receive functions, or the transmit and receive antennas are separated but the spacing is negligible. The transmit and receive antennas of a C-MIMO radar can be considered to have the same angle as the target. C-MIMO radar refers to a centralized radar system in which different antennas or antenna groups transmit different sensing signals. Compared to traditional radars that transmit a single sensing signal, C-MIMO radar offers advantages such as high angular resolution.

[0078] 3. Doppler effect

[0079] The Doppler effect occurs when the frequency of a wave received by an observer differs from the frequency emitted by the source when the source and observer are in relative motion. For example, when a radar transmits a fixed-frequency pulse wave to scan the air, if it encounters a moving target, the frequency difference between the echo and the transmitted wave is called the Doppler frequency. The Doppler frequency can be used to measure the radial velocity of the target relative to the radar, and the time difference between the transmitted pulse and the received pulse can be used to determine the target's distance.

[0080] 4. Fuzzy function

[0081] The ambiguity function is used to analyze the influence of time delay and Doppler effect on the radar echo signal. Specifically, the self-ambiguity function of the radar perception signal s(t) is: Where τ is the time delay between sending the radar sensing signal and receiving the radar echo signal, f is the Doppler frequency offset between the radar sensing signal and the radar echo signal, and s *(t-τ) is the conjugate signal of the radar echo signal. The performance of a perceptual receiver depends primarily on the quality of the ambiguity function of the perceived signal. The ambiguity function essentially refers to the output response of the signal received by the receiver (after time delay τ and Doppler frequency offset f) passing through the matched filter of the transmitted signal.

[0082] The mutual fuzzy function is the fuzzy function between two perception signals, which can be understood as the s in the self-fuzzy function * (t-τ) is considered as another perception signal.

[0083] 5. Related functions

[0084] The autocorrelation function describes the correlation between the values ​​of a random signal x(t) at any different times t1 and t2. The autocorrelation function is a cross-correlation of the signal itself, indicating the correlation between the values ​​of the same sequence at different times. It is a digital tool used to find recurring patterns, such as a periodic signal covered by noise, or to identify a missing fundamental frequency. It is often used in signal processing to analyze functions or sequences, such as time-domain signals. Definition: R(t1, t2) = E(x(t1) * x(t2)).

[0085] The main properties of the autocorrelation function are as follows:

[0086] (1) When t1=t2, the autocorrelation function has a maximum value and is equal to the mean square value of the signal.

[0087] (2) The autocorrelation function of a periodic signal is still a periodic signal with the same frequency.

[0088] The cross-correlation function, autocorrelation being a special case of cross-correlation, describes the correlation between the values ​​of random signals x(t) and y(t) at any two different times t1 and t2. It is defined as: R(t1, t2) = E(x(t1) * y(t2)).

[0089] The autocorrelation function and the cross-correlation function can be expressed as the convolution (inner product) of two functions.

[0090] 6. m-sequence

[0091] The m-sequence is the most basic pseudo-noise sequence (PN) used in code division multiple access (CDMA) systems and is the abbreviation for the longest linear feedback shift register sequence. In the embodiments of the present application, the m-sequence may also be referred to (or expressed as) an M-sequence, an m-sequence, or an M-sequence, without limitation.

[0092] The polynomial p(n) is used to describe the feedback connection state of the linear feedback shift register:

[0093] p(x) is called the characteristic polynomial or characteristic equation. y The value of determines the feedback connection of the shift register. Since p0=p1=1, p(x) is a d-degree polynomial with a constant term of 1, where d is the number of shift register stages.

[0094] The necessary and sufficient condition for a d-stage linear feedback shift register to generate an m-sequence is that its characteristic polynomial is a d-order primitive polynomial, that is, p(x) is a d-order primitive polynomial.

[0095] Specifically, if p(x)=p d x d +p d-1 x d-1 +...+p1x+p0 is a primitive polynomial of degree d over GF(2). Any d initial values ​​that are not all zero can generate a set of m sequences through the recursive formula corresponding to p(x).

[0096] For example, p(x)=x 4 +x+1, the recursive relationship (recursive formula) of the output sequence is: It is an XOR calculation. If the initial values ​​of a0, a1, a2, and a3 are 1, 0, 0, 1, the output is 1, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, …, and the period is 2 4 -1=15, that is, the m-sequence is 1,0,0,1,0,0,0,1,1,1,1.0,1,0,1, and the length is 15. If the initial values ​​a0,a1,a2,a3 are 1,0,0,0, then the output is 1,0,0,0,1,1,1,1,0,1,0,1,1,0,0,1,0,0,0,1,1,1,1,0,1,0,1,…, and the period is 2 4 -1=15, that is, the m-sequence is 1,0,0,0,1,1,1,1,0,1,1,0,0, and its length is 15.

[0097] Modulate the m-sequence: change 1 in the m-sequence to -1 and 0 to 1. For example, if the m-sequence is 1,0,0,1,0,0,0,1,1,1,1.0,1,0,1, then the modulated m-sequence can be -1,1,1,-1,1,1,1,-1,-1,-1,-1,-1,1,-1.

[0098] The m sequence has the following good properties:

[0099] (1) The period of the m sequence is 2d -1;

[0100] (2) The autocorrelation function of the modulated m-sequence is -1 when the time delay (lag) is non-zero, as shown in the autocorrelation function image of the m-sequence in (a) of Figure 1. The modulated m-sequence constitutes different sequences based on different cyclic shift values ​​(or cyclic shift numbers). The autocorrelation function is the dot product (inner product) function of the modulated m-sequence with a cyclic shift value of 0 and the modulated m-sequence with a cyclic shift value that is not zero. A non-zero lag means that the cyclic shift value is non-zero.

[0101] (3) The modulated m-sequence is a constant modulus sequence, and its Fourier transform has a perfect autocorrelation function;

[0102] (4) The ambiguity function of the modulated m-sequence is similar to that of a linear frequency modulation (LFM) signal and has Doppler resistance, as shown in the ambiguity function image of the m-sequence in Figure 1(b);

[0103] (5) The modulated m-sequence transformed by discrete Fourier transform (DFT) generates a sequence (also known as frequency domain m-sequence) with a perfect autocorrelation function.

[0104] The existing C-MIMO radar sensing sequence is designed based on the loss function, specifically:

[0105] If the radar transmits Q groups of sequences of length P (denoted as: To perform perception, first select different loss functions according to the needs. For example:

[0106] 1. Optimize the sum of the squares of the cross-correlation function and the autocorrelation function. The loss function is:

[0107] in, is the modulus of the autocorrelation function, is the modulus of the cross-correlation function, β is a freely selected weight coefficient, and Z is an integer in [0, P], indicating that only the radar signal within this time delay is considered.

[0108] 2. Optimize the energy distribution of the perception signal in space (time average), and take and Represent the actual power and expected power of the perception signal at angle θ respectively, then the loss function can be taken as:

[0109] in,‖·‖ *Represents some desired norm, such as the integral of the absolute value over the angle, or the maximum value on [0,π].

[0110] Then, different optimization algorithms are used to iteratively solve the problem based on the loss function. In reality, the two loss functions above correspond to non-convex optimization problems, making them difficult to solve. Existing methods address this by first adding appropriate constraints (such as providing a reference signal or limiting the modulus of the perceived signal to a constant) to transform the problem into a convex optimization problem. The problem is then solved iteratively to a convergent local optimal solution.

[0111] In integrated sensing and communication (ISAC), the perception function of access network equipment helps improve the accuracy and efficiency of communication. By leveraging the multi-antenna advantage of access network equipment, the functions of MIMO radar can be integrated into access network equipment. However, for the above-mentioned C-MIMO radar perception sequences, most do not consider the orthogonal frequency division multiplexing (OFDM) structure in the communication system. Moreover, due to the iterative algorithm involved, the amount of calculation is large, and the calculation results are very dependent on the parameter selection in the loss function and even the initial value of the iterative algorithm. Therefore, they are not suitable for access network equipment for perception. For the above-mentioned m-sequence, due to its relatively poor cross-correlation and the relatively small number of primitive polynomials, the number of sequences generated is also relatively small, which is not very suitable for access network equipment for perception. Therefore, how to realize the perception function of access network equipment has become an urgent problem to be solved.

[0112] To this end, an embodiment of the present application provides a perception method, which implements the perception function of an access network device by designing a two-dimensional discrete m-sequence as a perception sequence.

[0113] For example, Figure 2 is a schematic diagram of the architecture of a perception communication system provided in an embodiment of the present application. As shown in Figure 2, the perception communication system includes an access network device and a perception target (such as a drone). Figure 2 exemplarily shows two access network devices and one perception target. During perception, the access network device sends a perception signal and receives a signal after the perception signal is affected by the perception target (called an echo signal), and calculates perception information based on the echo signal, such as the position, speed, size or shape of the perception target. The access network device can both communicate and perceive.

[0114] In the embodiment of the present application, the signal after the perception signal is affected by the perception target can also be called the signal of the perception signal reflected by the perception target, the signal of the perception signal refracted by the perception target, the signal of the perception signal diffracted by the perception target, the signal of the perception signal transmitted by the perception target, the signal of the perception signal scattered or diffracted by the perception target, etc., without specific limitation.

[0115] In an embodiment of the present application, each communication device, such as an access network device, is configured with multiple antennas, which may include at least one transmitting antenna for sending signals and at least one receiving antenna for receiving signals. In addition, each communication device also additionally includes a transmitter chain and a receiver chain. Those skilled in the art will understand that they may include multiple components related to signal transmission and reception (such as processors, modulators, multiplexers, demodulators, demultiplexers or antennas, etc.). Therefore, communication devices can communicate with each other through multi-antenna technology. Specifically, the communication device is equipped with an antenna array, and the antenna array elements in the antenna array can be used for sensing as well as for communication. In other words, each communication device can send multiple sensing signals and / or communication signals at the same time, and the antenna array of the communication device has sensing and communication functions.

[0116] In an embodiment of the present application, the access network device may also be referred to as an access network (radio access network, RAN) node, network device, RAN entity or access node, etc., which is located on the network side of the above-mentioned perception communication system to help the terminal device achieve wireless access, and has a device with wireless transceiver function or a chip or chip system that can be set in the device. The access network device includes but is not limited to: a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB), a next generation base station in a 6G mobile communication system, a base station in a future mobile communication system, or an access node in a Wi-Fi system, etc. The access network device may be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or an open radio access network (ORAN), or a wireless controller in a centralized radio access network (CRAN) scenario. Optionally, the RAN node may also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the access network device in V2X technology may be a road side unit (RSU). All or part of the functions of the access network device in this application may also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The access network device in this application may also be a logical node, logical module, or software that can implement all or part of the functions of the access network device.

[0117] During perception, the access network device may also be referred to as a perception device, a perception apparatus, a perception communication device, a perception device, a perception communication device, etc., without limitation.

[0118] In another possible scenario, multiple RAN nodes collaborate to assist terminal devices in achieving wireless access, and different RAN nodes respectively implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU can be set separately, or they can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0119] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (Open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0120] The embodiments of this application do not limit the form of the access network device. The device used to implement the functions of the access network device can be the access network device; it can also be a device that supports the access network device to implement the functions, such as a chip system. The device can be installed in the access network device or used in conjunction with the access network device.

[0121] The perceived targets can be passive targets, such as people, mountains, forests, or buildings, or active targets, such as vehicles, drones, and terminal devices. The perceived scenarios can include positioning, ranging, and imaging. The embodiments of this application do not limit the form of the terminal device. The device used to implement the functions of the terminal device can be the terminal device itself, or it can be a device that supports the terminal device in implementing the functions, such as a chip system. The device can be installed in the terminal device or used in conjunction with the terminal device.

[0122] It should be understood that the embodiments of the present application do not limit the number and type of communication devices and perception devices included in the perception communication system. For example, the scenario shown in Figure 2 may also include terminal devices, other access network devices, and / or other perception devices, which are not shown in Figure 2.

[0123] It should be noted that the solutions in the embodiments of the present application can also be applied to other communication systems, and the corresponding names can also be replaced by the names of corresponding functions in other communication systems.

[0124] The following describes the perception method provided in the embodiments of the present application in detail with reference to Figures 3 and 4. This perception method is applicable to the access network device and the perception target shown in Figure 2. The subject that performs the access network device actions in this method may also be a device / module in the access network device, such as a chip, processor, or processing unit in the access network device, which is not specifically limited in the embodiments of the present application.

[0125] As shown in Figure 3, the perception method includes the following steps:

[0126] S301: An access network device generates a first sequence.

[0127] S302: The access network device sends a first perception signal, wherein the first perception signal is determined according to a first sequence.

[0128] S301 and S302 are described below respectively, with respect to the above S301:

[0129] In the embodiment of the present application, the first sequence is obtained by transforming the modulated m sequence according to the cyclic shift value and the Doppler frequency offset. The m sequence is generated according to a d-order primitive polynomial, and the length of the sequence is L=2, which is composed of 0 and 1. d -1 sequence, the modulated m sequence is a sequence of 1 and -1 with a length of L. For the relevant description of the m sequence, please refer to the relevant introduction of the m sequence above. L and d are positive integers.

[0130] The access network device may obtain a discrete frequency-domain sequence of length L (hereinafter referred to as the second sequence) by performing a discrete Fourier transform (DFT) on the modulated m-sequence of length L, and transform the second sequence according to the selected cyclic shift value and Doppler spectrum to obtain the first sequence. In other words, the first sequence is obtained by the access network device transforming the modulated and DFT-transformed m-sequence (i.e., the second sequence) using the cyclic shift value and Doppler frequency offset, and the length of the first sequence is also L.

[0131] In the embodiment of the present application, the m sequence is A=[m0,m1,…,m L-1 ], the modulated m sequence is A′=[m′0,m′1,…,m′L-1 ], the second sequence is B=[k0,k1,…,k L-1 ], the first sequence is Take this as an example to illustrate, where p u is the cyclic shift value, θ v is the Doppler frequency deviation, u is the first multiple value, v is the second multiple value, and p u , u, and v are positive integers.

[0132] It should be understood that the above sequence of length L is numbered starting from 0, so the elements in the sequence are numbered from 0 to L-1. In addition, the sequence of length L can also be numbered starting from 1, that is, the elements in the sequence are numbered from 1 to L, and there is no limitation on this.

[0133] For example, the recursive formula corresponding to the d-order primitive polynomial p(x) corresponding to the m-sequence is: d = 4, or The initial values ​​of m0, m1, m2, and m3 are 1, 0, 0, and 0 respectively. Therefore, the access network device can determine the length of the m sequence to be L=2 according to the value of d. 4 -1=15, which can be calculated based on the recursive formula: By analogy, the m-sequence is A = [1,0,0,0,1,0,0,1,1,0,1,0,1,1,1]. Furthermore, the access network device modulates the m-sequence, and the modulated m-sequence is A′ = [-1,1,1,1,-1,1,-1,-1,1,-1,-1,-1,-1].

[0134] Thus, the access network device can perform DFT transformation on the modulated m sequence A′=[-1,1,1,1,-1,1,-1,-1,-1,-1,-1,-1,-1] to obtain a second sequence. The second sequence is B=[-1.0000+0j,-0.6617-3.9449j,-2.2091-3.3347j,1.2361-3.8042j,-3.9563-0.5897j,2 .0000+3.4641j,-3.2361-2.3511j,-0.1729-3.9963j,-0.1729+3.9963j,-3.2361+2.3511j, 2.0000-3.4641j,-3.9563+0.5897j,1.2361+3.8042j,-2.2091+3.3347j,-0.6617+3.9449j].

[0135] For the m-sequence constructed by the d-order primitive polynomial, the range of the cyclic shift value is [0, L=2 d -1), that is, the cyclic shift value of the first sequence can be one of [0, L). In the embodiment of the present application, the cyclic shift value is related to the maximum delay value, and the maximum delay value is the maximum delay from sending the perception signal to receiving the echo signal within the perception range, and the maximum delay value can be set in units of code elements. In other words, the maximum delay value is the maximum delay that can be generated by the access network device in the process of sending the perception signal to receiving the echo signal within the maximum perception range supported by it, and the access network device determines the cyclic shift value of the first sequence according to the maximum delay value. In the embodiment of the present application, the delay characteristics are characterized by the cyclic shift value, and different cyclic shift values ​​correspond to different delays.

[0136] In a possible design, the cyclic shift value can satisfy the following relationship: u =u*a, 0≤p u <L;where, p u is the cyclic shift value, a is the maximum delay value, u is the first multiple value, L is the length of the first sequence, p u , a, u, and L are positive integers. That is, the cyclic shift value of the first sequence is an integer multiple of the maximum delay value. Since the length of the first sequence is L, when the cyclic shift value is 0 and L, the two generated first sequences are the same. Therefore, the cyclic shift value of the first sequence ranges from [0, L) or (0, L). Therefore, the access network device can determine different cyclic shift values ​​by selecting different first multiple values, thereby determining different first sequences.

[0137] The first sequence of Doppler frequency deviations is associated with a maximum Doppler frequency deviation value, which is the maximum Doppler frequency deviation of an echo signal generated by a motion-sensing target within the sensing range. Specifically, the maximum Doppler frequency deviation value is the maximum Doppler frequency deviation of an echo signal generated by a motion-sensing target within the maximum sensing range supported by the access network device compared to the sensing signal. The access network device determines the first sequence of Doppler frequency deviations based on the maximum delay threshold.

[0138] In one possible design, the Doppler frequency shift can satisfy the following relationship: θ v =v*b, Among them, θ v is the Doppler frequency shift, is the maximum Doppler frequency deviation value, L×b is an integer multiple of 2π, v is the second multiple value, and v is a positive integer. Since the signal has a back-and-forth change in velocity direction from sending the sensing signal to receiving the echo signal, and the maximum Doppler frequency deviation value is the Doppler frequency deviation in a single direction, the maximum Doppler frequency deviation value in both directions is twice the maximum Doppler frequency deviation value in a single direction. Therefore, θ v =v*b can also be expressed as That is, the Doppler frequency offset of the first sequence is an integer multiple of 2 times the maximum Doppler frequency offset value. The access network device can determine different Doppler frequency offsets by selecting different second multiple values, thereby determining different first sequences.

[0139] It should be understood that in the embodiments of the present application, “*” and “×” can be replaced with each other, and both mean multiplication.

[0140] After determining the values ​​of the cyclic shift value and the Doppler frequency offset, the access network device may transform the second sequence according to the determined cyclic shift value and the Doppler frequency offset to generate the first sequence.

[0141] In one possible design, the nth element in the first sequence can satisfy the following relationship: in, For B=[k0,k1,…,k L-1 ], B is the second sequence, n is the element number in the first sequence, and n is a positive integer.

[0142] That is, in determining the Doppler frequency shift θ v and the cyclic shift value p u In the case of , the nth element in the first sequence is the value of an element in the second sequence The product of the nth element, the serial number of the element in the second sequence corresponding to the nth element is the remainder obtained by dividing the sum of the element number of the first sequence and the cyclic shift value by the length of the first sequence, that is, (n+p u )mod(L).

[0143] For example, d=4, L=15, and the cyclic shift value p u =2, Doppler frequency deviation but And so on. This gives the first sequence

[0144] In the embodiment of the present application, the first sequence can be considered as a two-dimensional discrete m-sequence composed of a cyclic shift value and a Doppler frequency offset. Different cyclic shift values ​​and / or Doppler frequency offsets constitute different first sequences. The first sequence has the following characteristics:

[0145] Property 1: The m sequence corresponds to a d-order primitive polynomial, and the length of the first sequence is 2 d -1, the first sequence has (2 d -1) 2 Since the cyclic shift value of a first sequence has 2 d -1 possible value, and each cyclic shift value corresponds to 2 d -1 Doppler frequency deviation, so it corresponds to an m-sequence of d-order primitive polynomials, which can be constructed as (2 d -1) 2 Two-dimensional discrete m-sequences. That is, the first sequence has (2 d -1) 2 The first sequence can be (2 d -1) 2 It can be seen that the possible values ​​of the first sequence are far more than those of the m sequence, which increases the sequence capacity.

[0146] Property 2: The self-ambiguity function of the first sequence has a unique peak. In other words, the self-ambiguity function of the first perception signal has a unique peak. Moreover, the peak of the self-ambiguity function of the first sequence (or the first perception signal) is located on the delay-Doppler frequency offset plane. In the range, a is the maximum delay value, is the maximum Doppler frequency deviation value, θ v is the Doppler frequency shift.

[0147] It should be noted that in the embodiments of the present application, the self-ambiguity function of a sequence is the self-ambiguity function of the perception signal formed by the sequence, and the mutual ambiguity function of two sequences is the mutual ambiguity function of the perception signals formed by the two sequences. Furthermore, since the delay in the embodiments of the present application is represented by the cyclic shift value, the delay-Doppler frequency offset plane can be replaced by the cyclic shift value-Doppler frequency offset plane.

[0148] As shown in (a) of FIG4, the 9th-order primitive polynomial p(x)=x corresponding to the m sequence 9 +x 4 The self-ambiguity function image of the second sequence B generated by +1 has a unique peak, and the peak is located at (0,0) on the delay-Doppler frequency offset plane. The self-ambiguity function of the first sequence also has a unique peak. This peak characteristic has good anti-Doppler performance.

[0149] When an access network device performs MIMO sensing, it transmits multiple first sensing signals. These multiple first sensing signals may be generated using multiple first sequences with the same Doppler frequency offset but different cyclic shift values. If the access network device needs to identify the echo signal corresponding to any one of the multiple first sensing signals (serving as a target sensing signal, whose corresponding first sequence is the target sequence), the signal received by the access network device is a mixed signal. That is, the mixed signal may include, in addition to the echo signal corresponding to the target sensing signal, first sensing signals transmitted by other access network devices or echo signals corresponding to first sensing signals, as well as echo signals corresponding to other first sensing signals transmitted by the access network device. Therefore, the access network device may calculate a mutual ambiguity function between the mixed signal and the target sensing signal, and based on characteristic 2, determine, among the one or more peaks generated by the mutual ambiguity function, the peak generated by the target sensing signal and the echo signal corresponding to the target sensing signal, to determine information about the sensing target sensed by the target sensing signal. The specific implementation process can be found in the relevant descriptions of S303 and S304 below and will not be repeated here.

[0150] Feature 3: The mutual ambiguity function between the first and second sequences is obtained by shifting the self-ambiguity function of the second sequence on the delay-Doppler offset plane according to the cyclic shift value and Doppler offset of the first sequence. In other words, the mutual ambiguity function generated between the first and second sequences in this embodiment of the present application also has a single peak, and the location of the peak can be determined by shifting the self-ambiguity function of the second sequence.

[0151] As shown in FIG4(b), the first sequence and the second sequence are represented by the 9th degree primitive polynomial p(x)=x 9 +x 4 +1 generated, the first sequence is That is, p u =100,θ v =0, then the first sequence The peak of the mutual ambiguity function with the second sequence B is located at (100, 0) on the delay-Doppler frequency offset plane.

[0152] Feature 4: The mutual ambiguity function of two first sequences with different cyclic shift values ​​and Doppler offsets is obtained by shifting the self-ambiguity function of the second sequence on the delay-Doppler offset plane by at least one of the difference between the cyclic shift values ​​of the two first sequences and the difference between the Doppler offsets. In other words, the mutual ambiguity function of two first sequences with different cyclic shift values ​​is obtained by shifting the self-ambiguity function of the second sequence on the delay-Doppler offset plane by the difference between the cyclic shift values ​​of the two first sequences; the mutual ambiguity function of two first sequences with different Doppler offsets is obtained by shifting the self-ambiguity function of the second sequence on the delay-Doppler offset plane by the difference between the Doppler offsets of the two first sequences; and the mutual ambiguity function of two first sequences with different cyclic shift values ​​and Doppler offsets is obtained by shifting the self-ambiguity function of the second sequence on the delay-Doppler offset plane by the difference between the cyclic shift values ​​of the two first sequences and the difference between the Doppler offsets.

[0153] For example, there are two first sequences with different cyclic shift values ​​and Doppler frequency offsets, such as sequence #1 and sequence #2, where sequence #1 is Sequence #2 is but and The mutual ambiguity function is the self-ambiguity function of the second sequence B constituting the sequence #1 and sequence #2 on the delay-Doppler frequency offset plane according to the vector (p u#1 -p u#2 ,θ v#1 -θ v#2 ) is obtained by translation. As shown in (c) in Figure 4, sequence #1 is That is, p u#1 =100,θ v#1 =0, sequence #2 is That is, p u#2 =0, From the 9th degree primitive polynomial p(x)=x 9 +x 4 +1 Generated, and The peak of the cross-correlation function is located at (100, ) place.

[0154] Property 5: The peak of the mutual ambiguity function of the third sequence with respect to the fourth sequence lies on the delay plane outside the interval [0, a]. The third and fourth sequences are first sequences with the same Doppler frequency offset but different cyclic shift values. Under Property 5, the mutual ambiguity function of the third sequence with respect to the fourth sequence refers to the mutual ambiguity calculation performed when the third sequence is the target sequence and the fourth sequence is the interference sequence. It should be understood that the peak of the mutual ambiguity function of the fourth sequence with respect to the third sequence also lies on the delay plane outside the interval [0, a]. In this case, the mutual ambiguity calculation is performed when the third sequence is the target sequence and the fourth sequence is the interference sequence.

[0155] That is, the peak of the mutual ambiguity function of two first sequences with the same Doppler frequency offset but different cyclic shift values ​​lies on a delay plane outside [0, a]. Because the cyclic shift values ​​of different first sequences are all integer multiples of a, the peak of the mutual ambiguity function of two first sequences with the same Doppler frequency offset but different cyclic shift values ​​usually lies on a delay plane outside [0, a].

[0156] When multiple first perception signals (including a target perception signal) are transmitted by the same access network device, the multiple first perception signals may be generated by first sequences (including a target sequence for generating the target perception signal) having the same Doppler frequency offset but different cyclic shift values. The access network device may calculate a mutual ambiguity function between the mixed signal and the target perception signal. In this case, the mutual ambiguity function has one or more peaks. The location of the peaks is identified based on characteristic 5. For peaks located on the delay plane outside [0, a], it is determined that the peaks are not generated by the target perception signal after being acted upon by the perception target (i.e., the echo signals corresponding to the target perception signals). Peaks generated by the echo signals corresponding to other perception signals transmitted by the access network device may be filtered out, and peaks generated by the echo signals corresponding to the target perception signal may be retained. Perception information is then calculated based on the peaks, thereby achieving target perception. The specific implementation process can be found in the relevant descriptions in S303 and S304 below and will not be repeated here.

[0157] Feature 6: The peak of the mutual ambiguity function of the fifth sequence relative to the sixth sequence is located at On the Doppler frequency offset plane other than θ, the fifth and sixth sequences are the first sequences with different Doppler frequency offsets, θ v1 is the Doppler frequency offset of the fifth sequence. That is, when the fifth sequence is used as the target sequence, the peak of the mutual ambiguity function caused by the interference of other first sequences (such as the sixth sequence) with different Doppler frequency offsets from the fifth sequence to the fifth sequence is located at Similar to characteristic 5, since the Doppler frequency offsets of different first sequences are all integer multiples of b, the peak of the mutual ambiguity function of the fifth sequence relative to the sixth sequence is usually located at In the Doppler frequency deviation plane outside.

[0158] It should be understood that the peak of the mutual ambiguity function of the sixth sequence relative to the fifth sequence is located at The Doppler frequency deviation plane outside of v3 is the Doppler frequency deviation of the sixth sequence, that is, the sixth sequence is used as the target sequence and the fifth sequence is used as the interference sequence.

[0159] In a scenario where there are multiple access network devices within the sensing range, different access network devices may use different first sequences of Doppler frequency shifts to generate different first sensing signals. For example, access network device 1 uses Doppler frequency shift θ v1 To generate the first sequence (including the fifth sequence) with different cyclic shift values, the access network device 2 uses the Doppler frequency deviation θ v2 To generate a first sequence (including the sixth sequence) with different cyclic shift values. In the case where the fifth sequence is used as the target sequence of the access network device 1, the access network device 1 can calculate the mutual ambiguity function between the first perception signal (as the target perception signal) generated by the fifth sequence and the received mixed signal. At this time, the mutual ambiguity function has one or more peaks, and the position of the peak is identified according to the characteristic 6. For the signal located at The method determines that the peak on the Doppler frequency shift plane other than the first perception signal generated by the fifth sequence is not generated by the signal after the first perception signal generated by the fifth sequence is affected by the target perception (i.e., the echo signal corresponding to the target perception signal). Therefore, the peak generated by the echo signal corresponding to the first perception signal sent by access network device 2 can be filtered out, and the peak generated by the echo signal corresponding to the target perception signal can be retained. Based on the peak, perception information is calculated to achieve target perception. The specific implementation process can be found in the relevant descriptions of S303 and S304 below and will not be repeated here.

[0160] In other words, based on the aforementioned characteristics 5 and 6, the access network device can filter out peaks that do not correspond to the echo signal corresponding to the target perception signal from one or more peaks of the mutual ambiguity function between the target perception signal and the received mixed signal. This can be understood as the access network device filtering out signals that do not correspond to the echo signal corresponding to the target perception signal from the received mixed signal.

[0161] Regarding the above S302:

[0162] When an access network device performs MIMO perception and there is only one access network device within the perception range, the access network device can generate different first sequences based on different Doppler frequency offsets and cyclic shift values, and perform mapping, modulation, and other processing on the generated different first sequences to form different first perception signals and send them out for target perception.

[0163] In a scenario where there are multiple access network devices within the perception range, each access network device can fix the Doppler frequency offset to generate a first sequence with different cyclic shift values ​​to send multiple first perception signals, and the fixed Doppler frequency offsets between different access network devices are different, that is, different access network devices use first sequences with different Doppler frequency offsets and cyclic shift values ​​that can be the same or different to generate different first perception signals. Among them, the first sequences with different cyclic shift values ​​send perception signals in different directions through beamforming (beamforming) of different antenna layers, which can achieve target perception in different directions. In other words, different cyclic shift values ​​correspond to different beam sending directions. It should be understood that for a perception signal in which there is no perception target in the sending direction, it cannot generate a corresponding echo signal.

[0164] In an embodiment of the present application, the first sequence of Doppler frequency deviations sensed by each access network device may be pre-configured, or may be determined through negotiation with other access network devices, or may be configured by a control node (such as a management server or anchor access network device).

[0165] For example, the Doppler frequency deviation of the first sequence used by the access network device 1 is θ v1 , generate 3 cyclic shift values, which are p u1 、p u2 and p u3 The first sequence of Generate and send perception signal 1, perception signal 2 and perception signal 3 respectively; the Doppler frequency deviation of the first sequence used by access network device 2 is θ v2 , generate 3 cyclic shift values, which are p u4 、p u5 and p u6 The first sequence of Generate and send perception signal 4, perception signal 5 and perception signal 6 respectively. u1 、p u2 、p u3 With p u4 、p u5 、p u6 It should be understood that the targets of perception of different perception signals may be different.

[0166] In the above scenario, the access network device generates multiple first sequences. Since the Doppler frequency offsets of the multiple first sequences are the same but the cyclic shift values ​​are different, the generated first perception signals are also different. If the access network device needs to identify the signal after the first perception signal (called the target perception signal, and the corresponding first sequence is called the target sequence) is affected by the perception target from the received mixed signal (that is, the echo signal corresponding to the target perception signal), since the signal received by the access network device is a mixed signal, the mixed signal may include echo signals corresponding to other first perception signals sent by the access network device, first perception signals sent by other access network devices, or echo signals corresponding to the first perception signals, etc. Therefore, the access network device needs to perform matched filtering (such as match filter) on the mixed signal, filter or screen out the echo signals that do not correspond to the target perception signal, and retain the echo signals corresponding to the first perception signal to complete the perception of the perception target and obtain information about the perception target, such as the size, position, shape, etc. of the perception target. Therefore, further, the perception method provided in the embodiment of the present application may also include the following steps:

[0167] S303: The access network device receives a first mixed signal.

[0168] The description related to the first mixed signal may be the same as the description related to the above S302, which will not be repeated here.

[0169] S304: The access network device determines, based on a position of a first peak among at least one peak of a mutual ambiguity function formed by the target perception signal and the first mixed signal, whether the first peak is a peak generated by the target perception signal and an echo signal corresponding to the target perception signal.

[0170] The target perception signal is generated according to a target sequence, the target sequence is one of multiple first sequences generated by the access network device with the same Doppler frequency offset but different cyclic shift values, and the first peak is any peak of the at least one peak.

[0171] After receiving the first mixed signal, the access network device calculates the mutual ambiguity function of the target perception signal relative to the first mixed signal. Since the first mixed signal may contain a mixture of different first perception signals generated by different first sequences and corresponding echo signals, the calculated mutual ambiguity function may have one or more peaks, so that the access network device can determine the position of each peak on the delay-Doppler frequency deviation plane.

[0172] For example, the target sequence is sequence 1, which constitutes perception signal 1. The access network device also transmits perception signal 2, which consists of sequence 2 with the same Doppler frequency offset as sequence 1 but a different cyclic shift value. Another access network transmits perception signal 3 based on sequence 3, which has a different Doppler frequency offset from sequences 1 and 2. The first mixed signal may contain the echo signal corresponding to perception signal 1, the echo signal corresponding to perception signal 2, and perception signal 3 or the echo signal corresponding to perception signal 3. In this case, the mutual ambiguity function formed by the first mixed signal and the target perception signal may have three peaks: a peak generated by the echo signal corresponding to perception signal 1 and perception signal 1, a peak generated by the echo signal corresponding to perception signal 2 and perception signal 1, and a peak generated by the echo signal corresponding to perception signal 3 and perception signal 1. Therefore, the access network device can determine the positions of the three peaks on the delay-Doppler frequency offset plane.

[0173] If the first peak is located on a delay plane outside the range [0, a], the access network device can determine that the first peak is not a peak generated by the target perception signal and the echo signal corresponding to the target perception signal. Here, a is the maximum delay value. In other words, based on the aforementioned characteristic 5, the access network device can filter out peaks in the first mixed signal generated by the echo signals corresponding to other perception signals sent by the access network device and the target perception signal.

[0174] The first peak is located at In the case of a Doppler frequency deviation plane other than the above, the access network device may determine that the first peak is not a peak generated by the target perception signal and the echo signal corresponding to the target perception signal. is the maximum Doppler frequency deviation value, θ v2 That is, the access network device can filter out the peaks generated by the sensing signals sent by other access network devices on the target sensing signal in the first mixed signal according to the above characteristic 6.

[0175] For the first peak that meets either of the above two conditions, the access network device may determine that the first peak is not a peak generated by the target perception signal and the echo signal corresponding to the target perception signal.

[0176] In one possible scenario, when there is only one access network device performing perception within the perception range, when it is determined that the first peak is located on the delay plane within [0, a], the access network device can determine that the first peak is the peak generated by the target perception signal and the echo signal corresponding to the target perception signal.

[0177] In the scenario where there are multiple access network devices for sensing, when it is determined that the first peak is located on the delay plane within [0, a], the access network device needs to further determine whether the first peak is generated by the sensing signal sent from other access network devices, that is, the access network device needs to determine whether the first peak is located on the delay plane within [0, a]. On the Doppler frequency deviation plane within If the first peak is located on the Doppler frequency deviation plane within , the access network device can determine that the first peak is the peak generated by the target perception signal and the echo signal corresponding to the target perception signal. If the first peak is on a Doppler frequency shift plane other than the target perception signal, the access network device can determine that the first peak is not a peak generated by the target perception signal and the echo signal corresponding to the target perception signal.

[0178] That is, the first peak satisfies both the delay plane within [0, a] and In the case of the Doppler frequency shift plane within the range, that is, when the first peak is located at In the case of a delay-Doppler frequency deviation plane within , the access network device can determine that the first peak is the peak generated by the target perception signal and the echo signal corresponding to the target perception signal. Where a is the maximum delay value, is the maximum Doppler frequency deviation value, θ v2 is the Doppler frequency deviation of the target sequence.

[0179] In other words, when the first peak is When the first peak is not on the delay-Doppler frequency offset plane, the access network device may determine that the first peak is not a peak generated by the target perception signal and the echo signal corresponding to the target perception signal. This can be understood as the first peak being the peak of the mutual ambiguity function between the target perception signal and its corresponding echo signal, or the first peak being the peak of the self-ambiguity function of the target perception signal.

[0180] Continuing with the above example, the mutual ambiguity function composed of the target perception signal and the first mixed signal has three peaks, peak 1 to peak 3, where peak 1 and peak 3 are both at On the delay-Doppler frequency deviation plane outside the range, peak 2 is located at Therefore, the access network device can determine that peak 2 is the peak value generated by the echo signal corresponding to the target sensing signal.

[0181] Furthermore, the access network device can determine the distance of the perception target relative to the access network device based on the determined peak delay, determine the moving speed of the perception target relative to the access network device based on the Doppler frequency deviation of the peak, and obtain the angular range of the perception target relative to the access network device based on the sending direction of the target perception signal.

[0182] Based on the perception method shown in FIG3 , the access network device transforms the m-sequence according to the Doppler frequency offset and cyclic shift values ​​to obtain a two-dimensional discrete m-sequence, i.e., a first sequence. The first sequence has good autocorrelation function characteristics and fuzzy function characteristics, etc., thereby forming a perception signal according to the first sequence to achieve target perception. Moreover, when performing MIMO perception, by setting different Doppler frequency offset and cyclic shift values ​​for the first sequence, the access network device can distinguish the echo signals of multiple perception signals transmitted by itself, and can also distinguish the echo signals corresponding to perception signals sent by other access network devices.

[0183] It can be understood that in the above embodiments, the methods and / or steps implemented by the access network device can also be implemented by components that can be used for the access network device (such as processors, chips, chip systems, circuits, logic modules, or software).

[0184] The above mainly introduces the solution provided by this application. Accordingly, this application also provides a communication device, which is used to implement the various methods in the above method embodiments. The communication device can be the access network device in the above method embodiments, or a device including the access network device, or a component that can be used for the access network device, such as a chip or chip system.

[0185] It is understandable that, in order to realize the above functions, the communication device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0186] The embodiment of the present application can divide the functional modules of the communication device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0187] Taking the communication device as the access network device in the above method embodiment as an example, Figure 5 is a schematic diagram of the structure of a communication device provided in an embodiment of the present application. As shown in Figure 5, communication device 500 includes a processing module 501 and a transceiver module 502. The processing module 501 is used to perform the processing functions of the access network device in the above method embodiment. The transceiver module 502 is used to perform the transceiver functions of the access network device in the above method embodiment.

[0188] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0189] Since the communication device 500 provided in this embodiment can execute the above-mentioned perception method, the technical effects that can be obtained can refer to the above-mentioned method embodiments and will not be repeated here.

[0190] In one possible design solution, in the embodiment of the present application, the transceiver module 502 may include a receiving module and a sending module (not shown in FIG5 ).

[0191] In one possible design, the communication device 500 may further include a storage module (not shown in FIG5 ) storing a program or instruction. When the processing module 501 executes the program or instruction, the communication device 500 may perform the functions of the access network device in the method shown in FIG3 .

[0192] It should be understood that the processing module 501 involved in the communication device 500 can be implemented by a processor or a processor-related circuit component, which can be a processor or a processing unit; the transceiver module 502 can be implemented by a transceiver or a transceiver-related circuit component, which can be a transceiver or a transceiver unit.

[0193] For example, FIG6 is a schematic diagram of the structure of another communication device provided in an embodiment of the present application. The communication device may be an access network device, or a chip (system) or other component or assembly that can be set in the access network device. As shown in FIG6, the communication device 600 may include a processor 601. In one possible design scheme, the communication device 600 may further include a memory 602 and / or a transceiver 603. The processor 601 is coupled to the memory 602 and the transceiver 603, such as by a communication bus.

[0194] The following is a detailed introduction to the various components of the communication device 600 with reference to FIG6 :

[0195] The processor 601 is the control center of the communication device 600 and can be a single processor or a collective term for multiple processing elements. For example, the processor 601 can be one or more central processing units (CPUs), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application, such as one or more digital signal processors (DSPs) or one or more field programmable gate arrays (FPGAs).

[0196] In one possible design, the processor 601 may execute various functions of the communication device 600 by running or executing software programs stored in the memory 602 and calling data stored in the memory 602 .

[0197] In a specific implementation, as an embodiment, the processor 601 may include one or more CPUs, such as CPU0 and CPU1 shown in FIG. 6 .

[0198] In a specific implementation, as an embodiment, the communication device 600 may also include multiple processors, such as the processor 601 and the processor 604 shown in FIG6 . Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0199] The memory 602 is used to store the software program for executing the solution of the present application, and the execution is controlled by the processor 601. The specific implementation method can refer to the above method embodiment and will not be repeated here.

[0200] In one possible design, the memory 602 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, an optical disc storage (including a compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 602 may be integrated with the processor 601 or exist independently and be coupled to the processor 601 via an interface circuit (not shown in FIG6 ) of the communication device 600. This embodiment of the present application does not specifically limit this.

[0201] Transceiver 603 is used for communication with other communication devices. For example, if communication device 600 is a terminal device, transceiver 603 can be used to communicate with a network device or another terminal device. For another example, if communication device 600 is a network device, transceiver 603 can be used to communicate with a terminal device or another network device.

[0202] In one possible design, transceiver 603 may include a receiver and a transmitter (not separately shown in FIG6 ), wherein the receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0203] In one possible design scheme, the transceiver 603 can be integrated with the processor 601, or it can exist independently and be coupled to the processor 601 through the interface circuit of the communication device 600 (not shown in Figure 6). This embodiment of the present application does not specifically limit this.

[0204] It should be noted that the structure of the communication device 600 shown in FIG6 does not constitute a limitation on the communication device. An actual communication device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0205] In addition, the technical effects of the communication device 600 can refer to the technical effects of the methods described in the above method embodiments, and will not be repeated here.

[0206] An embodiment of the present application further provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed by a computer, the functions of the above-mentioned method embodiment are realized.

[0207] The embodiments of the present application also provide a computer program product, which implements the functions of the above method embodiments when executed by a computer.

[0208] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using a software program, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0209] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0210] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0211] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0212] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0213] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0214] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0215] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

Claims

1. A sensing method, characterized in that: The method comprises: Generate a first sequence, where the first sequence is obtained by transforming an m sequence according to a cyclic shift value and a Doppler frequency offset; A first perception signal is sent, where the first perception signal is determined according to the first sequence.

2. The method according to claim 1, characterized in that The first sequence is obtained by transforming the m sequence according to the cyclic shift value and the Doppler frequency offset, including: The first sequence is obtained by transforming a second sequence according to the cyclic shift value and the Doppler frequency offset, and the second sequence is obtained by performing discrete Fourier transform on the m sequence.

3. The method according to claim 2, characterized in that The mutual ambiguity function of the two first sequences having at least one different cyclic shift value and Doppler frequency offset is obtained by translating the self-ambiguity function of the second sequence on the delay-Doppler frequency offset plane according to at least one of the difference between the cyclic shift values ​​of the two first sequences and the difference between the Doppler frequency offset.

4. The method according to any one of claims 1 to 3, characterized in that The m sequence corresponds to a d-order primitive polynomial. The first sequence has (2 d -1) 2 The length of the first sequence is 2 d -1, d is a positive integer.

5. The method according to any one of claims 1 to 4, characterized in that The cyclic shift is related to a maximum delay value, which is the maximum delay from sending a perception signal to receiving an echo signal within a perception range. The Doppler frequency deviation is related to a maximum Doppler frequency deviation value, which is the maximum Doppler frequency deviation of an echo signal generated by the motion of a perceived target within the perception range.

6. The method according to claim 5, characterized in that The cyclic shift value satisfies the following relationship: u =u*a,p u <L; Among them, p u is the cyclic shift value, a is the maximum delay value, u is the first multiple value, L is the length of the first sequence, p u , a, u, and L are positive integers.

7. The method according to claim 5 or 6, characterized in that: The Doppler frequency deviation satisfies the following relationship: v =v*b, Among them, θ v is the Doppler frequency shift, is the maximum Doppler frequency deviation value, L×b is an integer multiple of 2π, v is a second multiple value, L is the length of the first sequence, and v is a positive integer.

8. The method according to any one of claims 5 to 7, characterized in that: The nth element in the first sequence satisfies the following relationship: 0≤n≤L-1; where For B = [k0, k1, ..., k L-1 ], n is the element number in the first sequence, θ v is the Doppler frequency deviation, p u is the cyclic shift value, L is the length of the first sequence, B is a second sequence obtained by performing discrete Fourier transform on the m sequence, and n and L are positive integers.

9. The method according to any one of claims 5 to 8, characterized in that: The self-ambiguity function of the first sequence has a unique peak.

10. The method according to claim 9, characterized in that The peak is located on the delay-Doppler frequency deviation plane In the range, a is the maximum delay value, is the maximum Doppler frequency deviation value, θ v is the Doppler frequency deviation.

11. The method according to claim 10, characterized in that The peak of the mutual ambiguity function of the third sequence relative to the fourth sequence is located on a delay plane outside [0, a], and the third sequence and the fourth sequence are the first sequences with the same Doppler frequency offset but different cyclic shift values.

12. The method according to claim 10 or 11, characterized in that: The peak of the mutual ambiguity function of the fifth sequence relative to the sixth sequence is located at On the Doppler frequency shift plane other than θ, the fifth sequence and the sixth sequence are the first sequences with different Doppler frequency shifts, θ v1 is the Doppler frequency deviation of the fifth sequence.

13. The method according to any one of claims 5 to 12, characterized in that: The Doppler frequency offsets of a plurality of the first sequences are the same but the cyclic shift values ​​are different, the plurality of the first sequences include a target sequence, and the method further includes: receiving a first mixed signal; According to a position of a first peak among at least one peak of a mutual ambiguity function formed by a target perception signal and the first mixed signal, determining whether the first peak is a peak generated by the target perception signal and an echo signal corresponding to the target perception signal; wherein the target perception signal is generated according to the target sequence.

14. The method according to claim 13, characterized in that The determining, according to a position of a first peak in at least one peak of a mutual ambiguity function formed by the target perception signal and the first mixed signal, whether the first peak is a peak generated by the target perception signal and an echo signal corresponding to the target perception signal, comprises: When the first peak is located on a delay plane outside [0, a], it is determined that the first peak is not a peak generated by the target perception signal and the echo signal corresponding to the target perception signal; wherein a is the maximum delay value.

15. The method according to claim 13, characterized in that The determining, according to a position of a first peak in at least one peak of a mutual ambiguity function formed by the target perception signal and the first mixed signal, whether the first peak is a peak generated by the target perception signal and an echo signal corresponding to the target perception signal, comprises: The first peak is located at In the case where the first peak is not on a Doppler frequency deviation plane other than the target perception signal, it is determined that the first peak is not a peak generated by the target perception signal and the echo signal corresponding to the target perception signal; wherein, is the maximum Doppler frequency deviation value, θ v2 is the Doppler frequency deviation of the target sequence.

16. The method according to claim 13, characterized in that The determining, according to a position of a first peak in at least one peak of a mutual ambiguity function formed by the target perception signal and the first mixed signal, whether the first peak is a peak generated by the target perception signal and an echo signal corresponding to the target perception signal, comprises: The first peak is located at In the case where the first peak value is on a delay-Doppler frequency shift plane within , it is determined that the first peak value is a peak value generated by the target perception signal and the echo signal corresponding to the target perception signal; wherein a is the maximum delay value, is the maximum Doppler frequency deviation value, θ v2 is the Doppler frequency deviation of the target sequence.

17. The method according to any one of claims 1 to 16, characterized in that The Doppler frequency deviation is pre-configured, or is determined through negotiation with other access network devices, or is configured by a control node.

18. A communication device, characterized in that: Comprising modules for executing the method as claimed in any one of claims 1 to 17.

19. A communication device, characterized in that: It includes a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor or send signals from the processor to other communication devices outside the communication device, and the processor is used to implement the method as described in any one of claims 1-17 through a logic circuit or executing code instructions.

20. A communication device, characterized in that: include: processor; The processor is configured to execute a computer program or instruction so that the method according to any one of claims 1 to 17 is implemented.

21. A communication chip, characterized in that: Instructions are stored therein, and when the chip runs on a communication device, the method according to any one of claims 1 to 17 is implemented.

22. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or an instruction. When the computer program or the instruction is executed by the communication device, the method according to any one of claims 1 to 17 is implemented.

23. A computer program product, characterized in that The device comprises a computer program code, and when the computer program code is executed on a communication device, the communication device implements the method according to any one of claims 1 to 17.

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