Target detection method, device, equipment, readable storage medium and program product

Abstract

This application discloses a target detection method, apparatus, device, readable storage medium, and program product, relating to the field of communication technology, to ensure detection performance. The method includes: receiving a target detection result sent by a first node; sending a first false alarm rate to the first node, wherein the first false alarm rate is determined based on the target detection result, and the first false alarm rate is used for target detection. Embodiments of this application can guarantee detection performance.

Description

Technical Field

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

[0002] In the fields of target detection and trajectory tracking, dynamic and static clutter (such as buildings, trees, and vehicles / pedestrians on the ground) can lead to a high rate of false alarms or false detections. To ensure trajectory continuity and high sensing accuracy, the system needs to improve the detection rate while reducing the false alarm rate. Therefore, developing a sensing system that can simultaneously improve the detection rate (or detection probability) and reduce the false alarm rate (or false alarm probability) in dynamic clutter environments has significant practical value.

[0003] Currently, when sensing nodes perform target detection, there are two methods: one is to use a fixed threshold to perform target detection and report the target detection information, and the other is to set a fixed false alarm rate for target detection.

[0004] However, in mobile networks, perception, as a new function of communication, has different perception requirements in different scenarios. Whether it is fixed threshold detection or fixed false alarm rate detection, there is a problem of inflexible perception configuration, which cannot meet the perception requirements of different scenarios and affects the detection performance. Summary of the Invention

[0005] This application provides a target detection method, apparatus, device, readable storage medium, and program product to ensure detection performance.

[0006] In a first aspect, embodiments of this application provide a target detection method applied to a sensing function (SF), comprising:

[0007] Receive the target detection results sent by the first node;

[0008] A first false alarm rate is sent to the first node, wherein the first false alarm rate is determined based on the target detection result, and the first false alarm rate is used for target detection.

[0009] Optionally, receiving the target detection result sent by the first node includes:

[0010] Receive the first target detection result sent by the first node for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or...

[0011] The system receives a second target detection result sent by the first node for other measurements. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0012] Optionally, receiving the target detection result sent by the first node includes:

[0013] The third target detection result of the first node is received, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: fourth signal detection quality, fourth target identifier, and fourth positioning assistance information.

[0014] Optionally, receiving the target detection result sent by the first node includes:

[0015] The system receives the fourth target detection result from the first node for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0016] Optionally, the signal detection quality includes:

[0017] The signal-to-interference-plus-noise ratio (SINR) of the echo path; or,

[0018] SINR of the echo signal.

[0019] Optionally, sending the first false alarm rate to the first node includes:

[0020] If, based on the target detection results, the change in signal detection quality is determined to be greater than a second threshold, the first false alarm rate is determined based on the change in signal detection quality and parameter configuration information, and the first false alarm rate is sent to the first node; or...

[0021] Based on the signal detection quality and parameter configuration information of the last measurement within an observation period, the first false alarm rate is determined and sent to the first node.

[0022] The parameter configuration information includes:

[0023] The mapping relationship between SNR, false alarm rate, and detection rate; or,

[0024] The mapping relationship between SNR and the false alarm rate under the first detection, where the first detection is the detection performed at the point closest to the point where the false alarm probability is 0 and the detection probability is 1.

[0025] Optionally, the method further includes:

[0026] Send at least one second false alarm rate and / or at least one third threshold to the first node, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or...

[0027] The system receives at least one third false alarm rate and / or at least one fourth threshold sent by the first node, the fourth threshold being used to determine whether to adjust the false alarm rate.

[0028] Secondly, embodiments of this application also provide a target detection method, applied to a first node, comprising:

[0029] Obtain the target detection results and send the target detection results to SF;

[0030] The first false alarm rate sent by the SF is received, wherein the first false alarm rate is determined based on the target detection result, and the first false alarm rate is used for target detection.

[0031] Optionally, sending the target detection result to SF includes:

[0032] The SF sends a first target detection result for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or...

[0033] Send a second target detection result for other measurements to the SF, wherein if the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information; if the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0034] Optionally, sending the target detection result to SF includes:

[0035] The third target detection result is sent to the SF, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: a third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: a fourth signal detection quality, a fourth target identifier, and fourth positioning assistance information.

[0036] Optionally, sending the target detection result to SF includes:

[0037] The SF sends a fourth target detection result for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0038] Optionally, the signal detection quality includes:

[0039] SINR of the echo path; or

[0040] SINR of the echo signal.

[0041] Optionally, the method further includes:

[0042] Receive at least one second false alarm rate and / or at least one third threshold sent by the SF, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or

[0043] Send at least one third false alarm rate and / or at least one fourth threshold to the first node, the fourth threshold being used to determine whether to adjust the false alarm rate.

[0044] Thirdly, embodiments of this application also provide a target detection device applied in SF, comprising:

[0045] The first receiving module is used to receive the target detection results sent by the first node;

[0046] A first sending module is configured to send a first false alarm rate to the first node, wherein the first false alarm rate is determined based on the target detection result and is used for target detection.

[0047] Optionally, the first receiving module is further configured to:

[0048] Receive the first target detection result sent by the first node for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or...

[0049] The system receives a second target detection result sent by the first node for other measurements. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0050] Optionally, the first receiving module is further configured to:

[0051] The third target detection result of the first node is received, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: fourth signal detection quality, fourth target identifier, and fourth positioning assistance information.

[0052] Optionally, the first receiving module is further configured to:

[0053] The system receives the fourth target detection result from the first node for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0054] Optionally, the signal detection quality includes:

[0055] SINR of the echo path; or,

[0056] SINR of the echo signal.

[0057] Optionally, the first sending module is further configured to:

[0058] If, based on the target detection results, the change in signal detection quality is determined to be greater than a second threshold, the first false alarm rate is determined based on the change in signal detection quality and parameter configuration information, and the first false alarm rate is sent to the first node; or...

[0059] Based on the signal detection quality and parameter configuration information of the last measurement within an observation period, the first false alarm rate is determined and sent to the first node.

[0060] The parameter configuration information includes:

[0061] The mapping relationship between SNR, false alarm rate, and detection rate; or,

[0062] The mapping relationship between SNR and the false alarm rate under the first detection, where the first detection is the detection performed at the point closest to the point where the false alarm probability is 0 and the detection probability is 1.

[0063] Optionally, the device further includes:

[0064] The second sending module is configured to send at least one second false alarm rate and / or at least one third threshold to the first node, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or...

[0065] The second receiving module is used to receive at least one third false alarm rate and / or at least one fourth threshold sent by the first node, wherein the fourth threshold is used to determine whether to adjust the false alarm rate.

[0066] Fourthly, embodiments of this application also provide a target detection device applied to a first node, comprising:

[0067] The first processing module is used to acquire the target detection result and send the target detection result to SF;

[0068] A first receiving module is configured to receive a first false alarm rate sent by the SF, wherein the first false alarm rate is determined based on the target detection result and is used for target detection.

[0069] Optionally, the first processing module is further configured to:

[0070] The SF sends a first target detection result for the first measurement, the first target detection result including: first signal detection quality, first target identifier, first positioning assistance information, or...

[0071] Send a second target detection result for other measurements to the SF, wherein if the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information; if the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0072] Optionally, the first processing module is further configured to:

[0073] The third target detection result is sent to the SF, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: a third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: a fourth signal detection quality, a fourth target identifier, and fourth positioning assistance information.

[0074] Optionally, the first processing module is further configured to:

[0075] The SF sends a fourth target detection result for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0076] Optionally, the signal detection quality includes:

[0077] SINR of the echo path; or

[0078] SINR of the echo signal.

[0079] Optionally, the device further includes:

[0080] The second receiving module is configured to receive at least one second false alarm rate and / or at least one third threshold sent by the SF, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or

[0081] A first sending module is configured to send at least one third false alarm rate and / or at least one fourth threshold to the first node, wherein the fourth threshold is used to determine whether to adjust the false alarm rate.

[0082] Fifthly, embodiments of this application also provide a target detection device applied in SF, comprising: a processor and a transceiver; the processor is used for:

[0083] Receive the target detection result sent by the first node; send a first false alarm rate to the first node, wherein the first false alarm rate is determined based on the target detection result and is used for target detection.

[0084] Optionally, the processor is further configured to:

[0085] Receive the first target detection result sent by the first node for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or...

[0086] The system receives a second target detection result sent by the first node for other measurements. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0087] Optionally, the processor is further configured to:

[0088] The third target detection result of the first node is received, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: fourth signal detection quality, fourth target identifier, and fourth positioning assistance information.

[0089] Optionally, the processor is further configured to:

[0090] The system receives the fourth target detection result from the first node for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0091] Optionally, the signal detection quality includes:

[0092] SINR of the echo path; or,

[0093] SINR of the echo signal.

[0094] Optionally, the processor is further configured to:

[0095] If, based on the target detection results, the change in signal detection quality is determined to be greater than a second threshold, the first false alarm rate is determined based on the change in signal detection quality and parameter configuration information, and the first false alarm rate is sent to the first node; or...

[0096] Based on the signal detection quality and parameter configuration information of the last measurement within an observation period, the first false alarm rate is determined and sent to the first node.

[0097] The parameter configuration information includes:

[0098] The mapping relationship between SNR, false alarm rate, and detection rate; or,

[0099] The mapping relationship between SNR and the false alarm rate under the first detection, where the first detection is the detection performed at the point closest to the point where the false alarm probability is 0 and the detection probability is 1.

[0100] Optionally, the processor is further configured to:

[0101] Send at least one second false alarm rate and / or at least one third threshold to the first node, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or...

[0102] The system receives at least one third false alarm rate and / or at least one fourth threshold sent by the first node, the fourth threshold being used to determine whether to adjust the false alarm rate.

[0103] Sixthly, embodiments of this application also provide a target detection device applied to a first node, comprising: a processor and a transceiver; the processor is used for:

[0104] Obtain the target detection results and send the target detection results to SF;

[0105] The first false alarm rate sent by the SF is received, wherein the first false alarm rate is determined based on the target detection result, and the first false alarm rate is used for target detection.

[0106] Optionally, the processor is further configured to:

[0107] The SF sends a first target detection result for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or...

[0108] Send a second target detection result for other measurements to the SF, wherein if the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information; if the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0109] Optionally, the processor is further configured to:

[0110] The third target detection result is sent to the SF, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: a third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: a fourth signal detection quality, a fourth target identifier, and fourth positioning assistance information.

[0111] Optionally, the processor is further configured to:

[0112] The SF sends a fourth target detection result for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0113] Optionally, the signal detection quality includes:

[0114] SINR of the echo path; or

[0115] SINR of the echo signal.

[0116] Optionally, the processor is further configured to:

[0117] Receive at least one second false alarm rate and / or at least one third threshold sent by the SF, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or

[0118] Send at least one third false alarm rate and / or at least one fourth threshold to the first node, the fourth threshold being used to determine whether to adjust the false alarm rate.

[0119] In a seventh aspect, embodiments of this application also provide a communication device, including: a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps in the target detection method described above.

[0120] Eighthly, embodiments of this application also provide a readable storage medium storing a program that, when executed by a processor, implements the steps in the target detection method described above.

[0121] In a ninth aspect, embodiments of this application also provide a computer program product, including computer instructions that, when executed by a processor, implement the steps in the target detection method described above.

[0122] In this embodiment, the perception function can determine the first false alarm rate based on the target detection result of the first node, thereby flexibly configuring the false alarm rate according to the target detection results obtained in different scenarios, meeting the perception requirements of different scenarios, and ensuring detection performance. Attached Figure Description

[0123] Figure 1 This is one of the flowcharts of the target detection method provided in the embodiments of this application;

[0124] Figure 2 This is one of the schematic diagrams illustrating the reporting of target detection results in the embodiments of this application;

[0125] Figure 3 This is the second schematic diagram of reporting target detection results in the embodiments of this application;

[0126] Figure 4 This is the third schematic diagram of reporting target detection results in the embodiments of this application;

[0127] Figure 5(a) is a schematic diagram of the ROC curve;

[0128] Figure 5(b) is a second flowchart of the target detection method provided in the embodiments of this application;

[0129] Figure 6 This is the third flowchart of the target detection method provided in the embodiments of this application;

[0130] Figure 7 This is the fourth flowchart of the target detection method provided in the embodiments of this application;

[0131] Figure 8 This is the fifth flowchart of the target detection method provided in the embodiments of this application;

[0132] Figure 9 This is one of the structural diagrams of the target detection device provided in the embodiments of this application;

[0133] Figure 10 This is the second structural diagram of the target detection device provided in the embodiments of this application;

[0134] Figure 11 This is the third structural diagram of the target detection device provided in the embodiments of this application;

[0135] Figure 12 This is the fourth structural diagram of the target detection device provided in the embodiments of this application. Detailed Implementation

[0136] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0137] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0138] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0139] See Figure 1 , Figure 1 This is a flowchart of the target detection method provided in the embodiments of this application, applied to SF, such as... Figure 1 As shown, it includes the following steps:

[0140] Step 101: Receive the target detection results sent by the first node.

[0141] When the network side (such as SF) receives a request to perform target awareness in a certain area, it configures the serving cell base station or terminal participating in the awareness as the first node, and the neighboring base stations or terminals of the first node as the second nodes, to participate in target awareness in that area. When the second node is a base station, the first node and the second node can report their respective physical locations to SF through the NR Positioning Protocol A (NRPPa) protocol; when the second node is a terminal, the second node reports its own physical location to SF through the LTE Positioning Protocol (LPP) protocol. Based on the reported physical location information, SF can perform positioning.

[0142] In this embodiment of the application, the SF can receive the target detection result sent by the first node in at least three ways:

[0143] Method 1: The first node dynamically reports the target detection results. Combined with... Figure 2 In this approach, the dynamic reporting of the first node is triggered by changes in signal detection quality. Specifically, the first node reports signal detection quality, target ID, position, and velocity upon its first measurement. For subsequent measurements, the reported information includes two scenarios: 1. When the change in signal detection quality is less than or equal to a threshold Δ (i.e., the first threshold), the first node reports target ID, position, and velocity; 2. When the change in signal detection quality is greater than the threshold Δ, the first node reports signal detection quality, target ID, position, and velocity. Here, position and velocity can be used as auxiliary positioning information for SF (Site Detection and Control) positioning.

[0144] Accordingly, the SF receives a first target detection result sent by the first node for the first measurement. The first target detection result includes: a first signal detection quality, a first target identifier (ID), and first positioning assistance information. Alternatively, it receives a second target detection result sent by the first node for other measurements. If the difference between the second signal detection quality of the other measurement and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, a second target identifier, and second positioning assistance information; if the difference between the second signal detection quality of the other measurement and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: a second target identifier and second positioning assistance information. In practical applications, the SF may also receive both the first target detection result sent for the first measurement and the second target detection result sent by the first node for other measurements.

[0145] In this embodiment, the positioning assistance information includes, but is not limited to, the target's position, velocity, angle of arrival of the target relative to the first node, and target distance. If the positioning assistance information includes the angle of arrival, the first node also needs to report its own position information to achieve target positioning.

[0146] The signal detection quality (i.e., the signal-to-interference-plus-noise ratio (SINR-P) of each path in the embodiments of this application may include the following:

[0147] SINR of the echo path; or,

[0148] SINR of the echo signal.

[0149] For example, when a target is detected, the first signal detection quality reported by the first node is the SINR of the echo path, denoted as SINR-P (or SINRP); when no target is detected, the first signal detection quality reported by the first node is the SINR of the echo signal, and the SINR of the echo path is approximated by the SINR of the echo signal.

[0150] Method 2: The first node semi-statically reports the target detection results. Combined with... Figure 3According to the observation period, within an observation period, the first node reports the target ID, position, velocity, and other measurement quantities after each measurement, and reports the SINR-P, target ID, position, velocity, and other measurement quantities during the last measurement. Correspondingly, the SF receives the third target detection result from the first node. For each observation period, for detections other than the last measurement within that observation period, the third target detection result includes: a third target identifier and third positioning assistance information; for the last measurement within that observation period, the third target detection result includes: fourth signal detection quality, fourth target identifier, and fourth positioning assistance information.

[0151] The descriptions of signal detection strength and positioning assistance information can be found in the foregoing embodiments.

[0152] Method 3: Combination Figure 4 After each measurement, the first node reports the SINR-P, target ID, position, velocity, and other measurement quantities. Correspondingly, the SF receives the fourth target detection result from the first node for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identifier, fifth position information, and fifth velocity information.

[0153] The descriptions of signal detection strength and positioning assistance information can be found in the foregoing embodiments.

[0154] In the target detection results reported multiple times by the first node, the target identifiers may be the same or different.

[0155] Step 102: Send a first false alarm rate to the first node, wherein the first false alarm rate is determined based on the target detection result and is used for target detection.

[0156] In this embodiment, the false alarm rate represents the probability of detecting a target when the target does not exist, and the detection rate represents the probability of detecting a target when the target exists.

[0157] In this step, the SF optimizes the false alarm rate based on the target detection results, dynamically adjusting the false alarm rate. Specifically, a flexible false alarm rate adjustment configuration protocol is established between the SF and the first node. This protocol allows the SF to flexibly send false alarm rate configuration commands to the first node, carrying the initial false alarm rate.

[0158] The first false alarm rate is determined based on the target detection results. This can be understood as the specific value of the first false alarm rate being determined based on the target detection results, or whether to adjust the false alarm rate being determined based on the target detection results.

[0159] Specifically, if the SF determines that the change in signal detection quality is greater than a second threshold based on the target detection results, it determines the first false alarm rate based on the change in signal detection quality and parameter configuration information, and sends the first false alarm rate to the first node. The second threshold may be the same as or different from the aforementioned first threshold. For example, the SF may determine whether the change is greater than the second threshold based on the signal detection quality included in the target detection results reported by the first node.

[0160] In this embodiment of the application, the parameter configuration information includes:

[0161] The mapping relationship between SNR, false alarm rate, and detection rate; or,

[0162] The mapping relationship between SNR and the false alarm rate under the first detection, where the first detection is the detection performed at the point closest to the point where the false alarm probability is 0 and the detection probability is 1.

[0163] Table 1 shows an example of the mapping relationship between SNR, false alarm rate, and detection rate.

[0164] Table 1

[0165] SNR (dB) False alarm rate Detection rate -10 10e-5, 10e-4, ..., 1 First value -5 10e-5, 10e-4, ..., 1 Second value ... ... ... 30 10e-5, 10e-4, ..., 1 Third value

[0166] Table 2 shows an example of the mapping relationship between SNR and the false alarm rate under the first detection.

[0167] Table 2

[0168] SNR (dB) False alarm rate -10 <![CDATA[Pd1]]> -5 <![CDATA[Pd2]]> ... ... 30 <![CDATA[Pd M ]]>

[0169] In practical applications, SF can obtain the parameters in the table above through simulation, or through theoretical integration calculations.

[0170] The Receiver Operating Characteristic (ROC) curve is a tool used to evaluate the performance of classification models, especially in binary classification problems. Two main conclusions can be drawn from the ROC curve:

[0171] When the false alarm rate remains constant, the detection rate increases with the increase of the SNR; when the SNR remains constant, the detection rate increases with the increase of the false alarm rate.

[0172] Figure 5(a) shows a schematic diagram of the ROC curve, which has the following characteristics:

[0173] Perfect classifier: The ROC curve passes through the top left corner, which means that the model can correctly detect all targets without producing false alarms.

[0174] Random classifier: The ROC curve is a diagonal line from (0,0) to (1,1), which means that the model performs the same as random guessing.

[0175] The area under the curve (AUC) is a metric for evaluating the performance of a classifier. A UC value closer to 1 indicates better model performance. ROC curves are often used to evaluate the overall performance of a classifier across different thresholds, rather than relying on a single specific threshold. Based on the above curves, the first detection is defined here as the detection performed at the point closest to the false alarm probability of 0 and the detection probability of 1.

[0176] Table 1 shows the false alarm rate and detection rate under different SNR conditions, and Table 2 shows the false alarm rate of the first detection under different SNR conditions. The false alarm rate shown in Table 2 can also be considered the optimal false alarm rate under optimal detection. When the SNR is fixed, the detection rate increases with the increase of the false alarm rate; when the SNR is different, the false alarm rate and detection rate have the same trend, but the performance is different.

[0177] Specifically, SF can also determine the first false alarm rate based on the signal detection quality and parameter configuration information of the last measurement within an observation period, and send the first false alarm rate to the first node. For example, the first false alarm rate can be determined based on the signal detection quality of the last measurement by looking up Table 1 or Table 2.

[0178] For example, if SF determines that the change is greater than the second threshold, it can look up Table 1 or Table 2 based on the signal detection quality reported by the first node (e.g., the signal detection quality reported by the first node could be the signal detection quality corresponding to the last measurement) to obtain the first false alarm rate. For example, SF can look up Table 1 or Table 2 based on the signal detection quality corresponding to the last measurement of the first node to obtain the first false alarm rate.

[0179] If multiple first false alarm rates are obtained by looking up Table 1, SF can choose one as the first false alarm rate according to its own strategy, or send multiple first false alarm rates to the first node, and the first node can arbitrarily choose one of them for measurement.

[0180] Based on the adjusted false alarm rate, the first node can apply the new first false alarm rate to the processing of subsequent echo data, and output and report the target detection results to SF.

[0181] In practical applications, the first node can repeatedly report target detection results to the SF, and the SF returns the first false alarm rate. When the first node uses multiple sets of false alarm rates for detection, the SF can combine the detection results under different false alarm rates for comprehensive analysis, thereby improving the perception effect and ensuring that perception results are obtained as needed.

[0182] For example, SF can perform target consistency determination: SF eliminates clutter targets by comparing whether targets detected at different false alarm rates are consistent (e.g., determining target consistency by target ID). For instance, static clutter targets such as buildings or trees may only appear under high false alarm rate conditions, while real moving targets can be detected under multiple false alarm rates. This comparative analysis can effectively filter static clutter. As another example, SF can prioritize targets detected simultaneously at multiple false alarm rates for generating target trajectories. If there are missing trajectory points under low false alarm rates, they can be supplemented using detection results from high false alarm rates to ensure trajectory continuity.

[0183] Therefore, the solution using the embodiments of this application can also effectively avoid static clutter interference, and at the same time supplement the detection points that may be lost in trajectory tracking, ensuring the continuity of the trajectory.

[0184] In this embodiment, the perception function can determine the first false alarm rate based on the target detection result of the first node, thereby flexibly configuring the false alarm rate according to the target detection results obtained in different scenarios, meeting the perception requirements of different scenarios, and ensuring detection performance.

[0185] In this embodiment, the SF may also send at least one second false alarm rate and / or at least one third threshold to the first node. The second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node. The third threshold may include the aforementioned first threshold. For example, the first node may select the false alarm rate required for target detection from the second false alarm rates; and select a final third threshold from at least one third threshold to determine whether to report the target detection result and the content included in the reported target detection result.

[0186] Alternatively, the SF receives at least one third false alarm rate and / or at least one fourth threshold sent by the first node, the fourth threshold being used to determine whether to adjust the false alarm rate. This fourth threshold may include the aforementioned second threshold. For example, the SF may determine the false alarm rate used by the first node for measurement based on the third false alarm rate sent by the first node, determine whether to adjust the false alarm rate based on the fourth threshold, and send the adjusted false alarm rate to the first node.

[0187] Referring to Figure 5(b), which is a flowchart of the target detection method provided in the embodiment of this application, applied to the first node, as shown in Figure 5(b), it includes the following steps:

[0188] Step 501: Obtain the target detection result and send the target detection result to SF.

[0189] The first node can perform target detection based on a pre-configured, stored, or obtained false alarm rate from SF, thereby obtaining a target detection result. The specific content of the target detection result can be referred to the description of the foregoing method embodiments, specifically:

[0190] Method 1: The first node sends a first target detection result for the first measurement to the SF. The first target detection result includes: a first signal detection quality, a first target identifier, and first positioning assistance information. Alternatively, the first node sends a second target detection result for other measurements to the SF. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, a second target identifier, and second positioning assistance information. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: a second target identifier and second positioning assistance information. In practical applications, the first node may also send both the first target detection result for the first measurement and the second target detection result for other measurements.

[0191] Method 2: The first node sends the third target detection result to the SF. For each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: fourth signal detection quality, fourth target identifier, and fourth positioning assistance information.

[0192] Method 3: The first node sends the fourth target detection result for each measurement to the SF, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information and fifth velocity information.

[0193] For explanations of the three methods mentioned above, please refer to [the relevant documentation / references]. Figure 1 Explanation of Methods 1 to 3 in the illustrated embodiments.

[0194] Step 502: Receive the first false alarm rate sent by the SF, wherein the first false alarm rate is determined based on the target detection result, and the first false alarm rate is used for target detection.

[0195] Based on the adjusted false alarm rate, the first node can apply the first false alarm rate to the processing of subsequent echo data, output and report the target detection results to SF.

[0196] In practical applications, the process involves the first node repeatedly reporting the target detection results to the SF, and the SF returning the first false alarm rate.

[0197] In this embodiment, the perception function can determine the first false alarm rate based on the target detection result of the first node, thereby flexibly configuring the false alarm rate according to the target detection results obtained in different scenarios, meeting the perception requirements of different scenarios, and ensuring detection performance.

[0198] In this embodiment, the first node may receive at least one second false alarm rate and / or at least one third threshold sent by the SF, wherein the second false alarm rate is used for target detection and the third threshold is used to determine the target detection result sent by the first node; or, the first node may send at least one third false alarm rate and / or at least one fourth threshold to the first node, wherein the fourth threshold is used to determine whether to adjust the false alarm rate. For example, the first node may select the false alarm rate required for target detection from the second false alarm rates; and select a final third threshold from at least one third threshold to determine whether to report the target detection result and the content included in the reported target detection result. For example, the SF may determine the false alarm rate used by the first node for measurement based on the third false alarm rate sent by the first node, determine whether to adjust the false alarm rate based on the fourth threshold, and send the adjusted false alarm rate to the first node.

[0199] See Figure 6 , Figure 6 This is a flowchart of the target detection method provided in an embodiment of this application. In mobile networks, perception, as a new function of communication, has different perception requirements in different scenarios. False alarm rate and detection rate are important indicators for target detection tasks. Figure 6 In this process, the second node (Node B) sends a sensing signal, and the first node (Node A) receives the sensing signal, sensing the target through a cooperative mode. The first node can perform target detection by configuring a false alarm rate. By configuring the false alarm rate on demand, target detection with fewer resources can be achieved, and by configuring the false alarm rate, the detection rate and the false alarm rate can be balanced to achieve better detection performance. In the embodiments of this application, the echo path can be the target path, the sensing path, etc. For example, using... Figure 6 For example, here, the echo path mainly represents the path of the signal sent by the second node after being reflected by the sensing target and reaching the first node. Figure 6 As shown, it includes the following steps:

[0200] Step 601: Collaborative resource allocation.

[0201] Upon receiving a request to perform target sensing on a specific area, the network side (e.g., SF can initiate a sensing request to Node B) configures the serving cell base station or terminal participating in the sensing as Node A (i.e., the first node), and the neighboring base station / terminal of Node A as Node B (i.e., the second node). When Node B is a base station, Node A and Node B report their respective physical locations to SF via the NRPPa protocol; when Node B is a terminal, Node B reports its own physical location to SF via the LPP protocol.

[0202] Step 602: SF acquires sensing parameters.

[0203] The sensing parameters may include the two configuration parameters listed in Tables 1 and 2 above. This step may also be performed before step 601.

[0204] Step 603: SF configures thresholds for false alarm rate and / or SINR-P change for node A. Alternatively, node A configures thresholds for false alarm rate and / or SINR-P change and notifies SF.

[0205] Step 604: Node A performs target detection according to the configured false alarm rate, outputs and reports the target detection results to SF.

[0206] According to methods one to three mentioned above, node A can report the target detection results in any of these methods.

[0207] Step 605: Based on the target detection results, SF determines whether to adjust the false alarm rate. If adjustment is needed, the false alarm rate is optimized, dynamically adjusted, and the adjusted false alarm rate is sent to node A. If no adjustment is needed, SF may send a notification message to the first node or SF may not perform any other processing.

[0208] Step 606: Node A applies the adjusted false alarm rate to the processing of subsequent echo data, and outputs and reports the target detection results to SF.

[0209] Step 607: Complete the perception requirements. When node A uses multiple false alarm rates for detection, SF can combine the target detection results under different false alarm rates for comprehensive analysis, such as target detection and target tracking.

[0210] See Figure 7 , Figure 7 This is a flowchart of the target detection method provided in the embodiments of this application. For example... Figure 7 As shown, it may include:

[0211] Step 701: Collaborative resource allocation.

[0212] After receiving a request to perform target perception on a certain area, the network side (e.g., SF can initiate perception request to Node B) configures the serving cell base station participating in perception as Node A (i.e., the first node), and the neighboring base station / terminal of Node A as Node B (i.e., the second node).

[0213] Step 702: SF acquires perception parameters.

[0214] The sensing parameters are shown in Table 3, which represents the false alarm rate under different SNRs (the optimal point is defined as the point closest to (0, 1)).

[0215] Table 3

[0216]

[0217]

[0218] Step 703: SF configures thresholds for false alarm rate and / or SINR-P change for node A. For example, SF configures a false alarm rate of 0.01 and a SINR-P change threshold of 4 for the sensing node.

[0219] Step 704: Node A performs target detection according to the configured false alarm rate, outputs and reports the target detection results to SF.

[0220] Node A detected a target and reported the target identifier, SINR-P, and target distance as follows:

[0221] ID = 1, 20dB, 100m.

[0222] Step 705: Based on the target detection results, SF determines to optimize the false alarm rate and sends the adjusted false alarm rate to node A.

[0223] For example, the false alarm rate for SF reconfiguration is 10e-5.

[0224] Step 706: Node A applies the adjusted false alarm rate to the processing of subsequent echo data, and outputs and reports the target detection results to SF.

[0225] Here, steps 704-705 can be repeated, following the aforementioned method one, assuming that the content reported by node A is:

[0226] ID=1,105m

[0227] ID = 1, 110m.

[0228] ID = 1, 120m.

[0229] ID = 1, 130m, 15.8dB.

[0230] In step 705, when the SINR-P change (20-15.8=4.2) exceeds the threshold (assuming the threshold is 4), based on the last reported 15.8dB, look up Table 3 and reconfigure the false alarm rate to 10e-4.

[0231] Step 707: Complete the perception requirements. When node A uses multiple false alarm rates for detection, SF can combine the target detection results under different false alarm rates for comprehensive analysis.

[0232] See Figure 8 , Figure 8 This is a flowchart of the target detection method provided in the embodiments of this application. For example... Figure 8 As shown, it may include:

[0233] Step 801: Collaborative resource allocation.

[0234] After receiving a request to perform target perception on a certain area, the network side (e.g., SF can initiate perception request to Node B) configures the serving cell base station participating in perception as Node A (i.e., the first node), and the neighboring base station / terminal of Node A as Node B (i.e., the second node).

[0235] Step 802: SF acquires sensing parameters.

[0236] The sensing parameters are shown in Table 3, which represents the false alarm rate under different SNRs (the optimal point is defined as the point closest to (0, 1)).

[0237] Step 803: SF configures thresholds for false alarm rate and / or SINR-P change for node A. For example, SF configures a false alarm rate of 0.01 and a SINR-P change threshold of 6 for the sensing node.

[0238] Step 804: Node A performs target detection according to the configured false alarm rate, outputs and reports the target detection results to SF.

[0239] Node A detects a target. For example, following the aforementioned Method 2, it reports the target identifier, SINR-P, and target distance as follows:

[0240] ID = 1, 100m.

[0241] ID=1,105m

[0242] ID = 1, 110m.

[0243] ID = 1, 120m.

[0244] ID = 1, 130m, 18dB.

[0245] Step 805: Based on the target detection results, SF determines to optimize the false alarm rate and sends the adjusted false alarm rate to node A.

[0246] For example, SF looks up Table 3 based on the SINR-P of the last measurement within an observation period and reconfigures the false alarm rate to 10e-5 (18dB close to 20dB).

[0247] Step 806: Node A applies the adjusted false alarm rate to the processing of subsequent echo data, and outputs and reports the target detection results to SF.

[0248] Here, steps 804-805 can be repeated, assuming that the content reported by node A is:

[0249] ID=1,131m

[0250] ID = 1, 135m.

[0251] ID = 1, 135m.

[0252] ID = 1, 135m.

[0253] ID = 1, 130m, 15.8dB.

[0254] In step 805, the SF is reconfigured to have a false alarm rate of 10e-4.

[0255] Step 807: Complete the perception requirements. When node A uses multiple false alarm rates for detection, SF can combine the target detection results under different false alarm rates for comprehensive analysis.

[0256] As can be seen from the above description, in this embodiment of the application, the false alarm rate can be configured according to the real scene and perception requirements to ensure perception performance and save resource consumption.

[0257] See Figure 9 , Figure 9 This is a structural diagram of the target detection device provided in the embodiments of this application, using SF.

[0258] like Figure 9 As shown, the target detection device includes:

[0259] The first receiving module 901 is used to receive the target detection result sent by the first node; the first sending module 902 is used to send the first false alarm rate to the first node, wherein the first false alarm rate is determined based on the target detection result and is used for target detection.

[0260] Optionally, the first receiving module is further configured to:

[0261] Receive the first target detection result sent by the first node for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or...

[0262] The system receives a second target detection result sent by the first node for other measurements. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0263] Optionally, the first receiving module is further configured to:

[0264] The third target detection result of the first node is received, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: fourth signal detection quality, fourth target identifier, and fourth positioning assistance information.

[0265] Optionally, the first receiving module is further configured to:

[0266] The system receives the fourth target detection result from the first node for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0267] Optionally, the signal detection quality includes:

[0268] SINR of the echo path; or,

[0269] SINR of the echo signal.

[0270] Optionally, the first sending module is further configured to:

[0271] If, based on the target detection results, the change in signal detection quality is determined to be greater than a second threshold, the first false alarm rate is determined based on the change in signal detection quality and parameter configuration information, and the first false alarm rate is sent to the first node; or...

[0272] Based on the signal detection quality and parameter configuration information of the last measurement within an observation period, the first false alarm rate is determined and sent to the first node.

[0273] The parameter configuration information includes:

[0274] The mapping relationship between SNR, false alarm rate, and detection rate; or,

[0275] The mapping relationship between SNR and the false alarm rate under the first detection, where the first detection is the detection performed at the point closest to the point where the false alarm probability is 0 and the detection probability is 1.

[0276] Optionally, the device further includes:

[0277] The second sending module is configured to send at least one second false alarm rate and / or at least one third threshold to the first node, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or...

[0278] The second receiving module is used to receive at least one third false alarm rate and / or at least one fourth threshold sent by the first node, wherein the fourth threshold is used to determine whether to adjust the false alarm rate.

[0279] The apparatus provided in this application embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0280] See Figure 10 , Figure 10 This is a structural diagram of the target detection device provided in the embodiments of this application, applied to the first node. For example... Figure 10 As shown, the target detection device includes:

[0281] The first processing module 1001 is used to acquire target detection results and send the target detection results to the SF; the first receiving module 1002 is used to receive the first false alarm rate sent by the SF, wherein the first false alarm rate is determined based on the target detection results and is used for target detection.

[0282] Optionally, the first processing module is further configured to:

[0283] The SF sends a first target detection result for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or...

[0284] Send a second target detection result for other measurements to the SF, wherein if the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information; if the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0285] Optionally, the first processing module is further configured to:

[0286] The third target detection result is sent to the SF, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: a third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: a fourth signal detection quality, a fourth target identifier, and fourth positioning assistance information.

[0287] Optionally, the first processing module is further configured to:

[0288] The SF sends a fourth target detection result for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0289] Optionally, the signal detection quality includes:

[0290] SINR of the echo path; or

[0291] SINR of the echo signal.

[0292] Optionally, the device further includes:

[0293] The second receiving module is configured to receive at least one second false alarm rate and / or at least one third threshold sent by the SF, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or

[0294] A first sending module is configured to send at least one third false alarm rate and / or at least one fourth threshold to the first node, wherein the fourth threshold is used to determine whether to adjust the false alarm rate.

[0295] The apparatus provided in this application embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0296] See Figure 11 , Figure 11This is a structural diagram of the target detection device provided in the embodiments of this application, using SF. (As shown in the image.) Figure 11 As shown, the target detection device includes: a processor 1101 and a transceiver 1102; the processor is used for:

[0297] Receive the target detection result sent by the first node; send a first false alarm rate to the first node, wherein the first false alarm rate is determined based on the target detection result and is used for target detection.

[0298] Optionally, the processor 1101 is further configured to:

[0299] Receive the first target detection result sent by the first node for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or...

[0300] The system receives a second target detection result sent by the first node for other measurements. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0301] Optionally, the processor 1101 is further configured to:

[0302] The third target detection result of the first node is received, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: fourth signal detection quality, fourth target identifier, and fourth positioning assistance information.

[0303] Optionally, the processor 1101 is further configured to:

[0304] The system receives the fourth target detection result from the first node for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0305] Optionally, the signal detection quality includes:

[0306] SINR of the echo path; or,

[0307] SINR of the echo signal.

[0308] Optionally, the processor 1101 is further configured to:

[0309] If, based on the target detection results, the change in signal detection quality is determined to be greater than a second threshold, the first false alarm rate is determined based on the change in signal detection quality and parameter configuration information, and the first false alarm rate is sent to the first node; or...

[0310] Based on the signal detection quality and parameter configuration information of the last measurement within an observation period, the first false alarm rate is determined and sent to the first node.

[0311] The parameter configuration information includes:

[0312] The mapping relationship between SNR, false alarm rate, and detection rate; or,

[0313] The mapping relationship between SNR and the false alarm rate under the first detection, where the first detection is the detection performed at the point closest to the point where the false alarm probability is 0 and the detection probability is 1.

[0314] Optionally, the processor 1101 is further configured to:

[0315] Send at least one second false alarm rate and / or at least one third threshold to the first node, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or...

[0316] The system receives at least one third false alarm rate and / or at least one fourth threshold sent by the first node, the fourth threshold being used to determine whether to adjust the false alarm rate.

[0317] The apparatus provided in this application embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0318] See Figure 12 , Figure 11 This is a structural diagram of the target detection device provided in the embodiments of this application, using the first node. For example... Figure 12 As shown, the target detection device includes: a processor 1201 and a transceiver 1202; the processor 1201 is used for:

[0319] Obtain the target detection results and send the target detection results to SF;

[0320] The first false alarm rate sent by the SF is received, wherein the first false alarm rate is determined based on the target detection result, and the first false alarm rate is used for target detection.

[0321] Optionally, the processor 1201 is further configured to:

[0322] The SF sends a first target detection result for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or...

[0323] Send a second target detection result for other measurements to the SF, wherein if the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information; if the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

[0324] Optionally, the processor 1201 is further configured to:

[0325] The third target detection result is sent to the SF, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: a third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: a fourth signal detection quality, a fourth target identifier, and fourth positioning assistance information.

[0326] Optionally, the processor 1201 is further configured to:

[0327] The SF sends a fourth target detection result for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

[0328] Optionally, the signal detection quality includes:

[0329] SINR of the echo path; or

[0330] SINR of the echo signal.

[0331] Optionally, the processor 1201 is further configured to:

[0332] Receive at least one second false alarm rate and / or at least one third threshold sent by the SF, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or

[0333] Send at least one third false alarm rate and / or at least one fourth threshold to the first node, the fourth threshold being used to determine whether to adjust the false alarm rate.

[0334] The apparatus provided in this application embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0335] It should be noted that the division of units in the embodiments of this application is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0336] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0337] This application provides a communication device, including: a memory, a processor, and a program stored in the memory and executable on the processor; the processor is configured to read the program in the memory to implement the steps in the target detection method described above.

[0338] This application also provides a readable storage medium storing a program. When executed by a processor, this program implements the various processes of the above-described target detection method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here. The readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0339] This application also provides a computer program product, including computer instructions. When executed by a processor, the computer instructions implement the various processes of the above-described target detection method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0340] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0341] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0342] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A target detection method, characterized in that, Applications to sensing functions include: Receive the target detection results sent by the first node; A first false alarm rate is sent to the first node, wherein the first false alarm rate is determined based on the target detection result, and the first false alarm rate is used for target detection.

2. The method according to claim 1, characterized in that, The receiving of the target detection result sent by the first node includes: Receive the first target detection result sent by the first node for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or... The system receives a second target detection result sent by the first node for other measurements. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information. If the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

3. The method according to claim 1, characterized in that, The receiving of the target detection result sent by the first node includes: The third target detection result of the first node is received, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: fourth signal detection quality, fourth target identifier, and fourth positioning assistance information.

4. The method according to claim 1, characterized in that, The receiving of the target detection result sent by the first node includes: The system receives the fourth target detection result from the first node for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

5. The method according to any one of claims 2 to 4, characterized in that, The signal detection quality includes: The signal-to-interference-plus-noise ratio (SINR) of the echo path; or, SINR of the echo signal.

6. The method according to any one of claims 2 to 4, characterized in that, Sending the first false alarm rate to the first node includes: If, based on the target detection results, the change in signal detection quality is determined to be greater than a second threshold, the first false alarm rate is determined based on the change in signal detection quality and parameter configuration information, and the first false alarm rate is sent to the first node; or... Based on the signal detection quality and parameter configuration information of the last measurement within an observation period, the first false alarm rate is determined and sent to the first node. The parameter configuration information includes: The mapping relationship between SNR, false alarm rate, and detection rate; or, The mapping relationship between SNR and the false alarm rate under the first detection, where the first detection is the detection performed at the point closest to the point where the false alarm probability is 0 and the detection probability is 1.

7. The method according to claim 1, characterized in that, The method further includes: Send at least one second false alarm rate and / or at least one third threshold to the first node, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or... The system receives at least one third false alarm rate and / or at least one fourth threshold sent by the first node, the fourth threshold being used to determine whether to adjust the false alarm rate.

8. A target detection method, characterized in that, Applied to the first node, including: Obtain the target detection results and send the target detection results to SF; The first false alarm rate sent by the SF is received, wherein the first false alarm rate is determined based on the target detection result, and the first false alarm rate is used for target detection.

9. The method according to claim 8, characterized in that, Sending the target detection result to SF includes: The SF sends a first target detection result for the first measurement, the first target detection result including: first signal detection quality, first target identifier, and first positioning assistance information; or... Send a second target detection result for other measurements to the SF, wherein if the difference between the second signal detection quality of the other measurements and the first signal detection quality is greater than a first threshold, the second target detection result includes: the second signal detection quality, the second target identifier, and the second positioning assistance information; if the difference between the second signal detection quality of the other measurements and the first signal detection quality is less than or equal to the first threshold, the second target detection result includes: the second target identifier and the second positioning assistance information.

10. The method according to claim 8, characterized in that, Sending the target detection result to SF includes: The third target detection result is sent to the SF, wherein, for each observation period, for detections other than the last measurement within the observation period, the third target detection result includes: a third target identifier and third positioning assistance information; for the last measurement within the observation period, the third target detection result includes: a fourth signal detection quality, a fourth target identifier, and fourth positioning assistance information.

11. The method according to claim 8, characterized in that, Sending the target detection result to SF includes: The SF sends a fourth target detection result for each measurement, wherein the fourth target detection result includes: fifth signal detection quality, fifth target identification, fifth position information, and fifth velocity information.

12. The method according to any one of claims 9 to 11, characterized in that, The signal detection quality includes: SINR of the echo path; or SINR of the echo signal.

13. The method according to claim 8, characterized in that, The method further includes: Receive at least one second false alarm rate and / or at least one third threshold sent by the SF, wherein the second false alarm rate is used for target detection, and the third threshold is used to determine the target detection result sent by the first node; or Send at least one third false alarm rate and / or at least one fourth threshold to the first node, the fourth threshold being used to determine whether to adjust the false alarm rate.

14. A target detection device, characterized in that, Applied to SF, including: The first receiving module is used to receive the target detection results sent by the first node; A first sending module is configured to send a first false alarm rate to the first node, wherein the first false alarm rate is determined based on the target detection result and is used for target detection.

15. A target detection device, characterized in that, Applied to the first node, including: The first processing module is used to acquire the target detection result and send the target detection result to SF; A first receiving module is configured to receive a first false alarm rate sent by the SF, wherein the first false alarm rate is determined based on the target detection result and is used for target detection.

16. A target detection device, characterized in that, Applied to SF, it includes: a processor and a transceiver; the processor is used for: Receive the target detection result sent by the first node; send a first false alarm rate to the first node, wherein the first false alarm rate is determined based on the target detection result and is used for target detection.

17. A target detection device, characterized in that, Applied to the first node, it includes: a processor and a transceiver; the processor is used for: Obtain the target detection results and send the target detection results to SF; The first false alarm rate sent by the SF is received, wherein the first false alarm rate is determined based on the target detection result, and the first false alarm rate is used for target detection.

18. A communication device, comprising: A memory, a processor, and a program stored in the memory and executable on the processor; characterized in that the processor is configured to read the program in the memory to implement the steps of the target detection method as described in any one of claims 1 to 13.

19. A computer-readable storage medium for storing a program, characterized in that, When the program is executed by the processor, it implements the steps of the target detection method as described in any one of claims 1 to 13.

20. A computer program product, characterized in that, It includes computer instructions that, when executed by a processor, implement the steps in the target detection method as described in any one of claims 1 to 13.

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