Environmental grayscale wireless sensing method and device, and computer-readable medium

Abstract

An environmental grayscale wireless sensing method and device, and a computer-readable medium. The method comprises: acquiring time-domain impulse responses of sensing echo signals received by a receiving end (S101), wherein the sensing echo signals are signals formed by sensing signals which are simultaneously transmitted from a transmitting end toward a continuous spatial range and are transmitted to the receiving end; according to the time-domain impulse responses of the sensing echo signals, determining angular energy of the receiving end in each angular direction within a predetermined continuous angle range (S102), wherein the angular energy represents the intensity of the time-domain impulse response of the sensing echo signal in the angular direction; and determining an environmental grayscale image of the receiving end according to the angular energy in the plurality of angular directions (S103), wherein the environmental grayscale image comprises pixels corresponding to the angular directions, and grayscale values of the pixels represent the angular energy in the corresponding angular directions.

Description

Method and device for wirelessly sensing grayscale environments, and computer-readable medium Technical Field

[0001] The present disclosure relates to the field of environmental perception technology, and in particular to a method and device for wirelessly perceiving environmental grayscale, and a computer-readable medium. Background Art

[0002] We are currently in the era of the Fourth Industrial Revolution, a key feature of which is ubiquitous intelligence. Intelligent technology has become deeply integrated into our lives, bringing tremendous convenience and new experiences. It has also penetrated into all walks of life, enabling industrial upgrades and improving industrial efficiency through intelligence.

[0003] Ubiquitous intelligent technologies primarily include ubiquitous sensing and computing. Therefore, ubiquitous intelligence must be realized through ubiquitous systems. Of the various systems currently deployed, only wireless communication networks can meet ubiquitous requirements. Therefore, achieving ubiquitous sensing and computing through wireless communication networks has become a major viable technical approach. For example, utilizing widespread wireless networks for environmental awareness is a key requirement in the 6G (sixth-generation mobile communications) era.

[0004] Currently, major environmental perception technologies include radar and visual perception. Radar transmits radar signals in every direction in space, and the received signals form a point cloud. This is then processed backend-wise to generate environmental perception results. Visual perception uses cameras to generate environmental perception data through image segmentation and recognition. Both of these environmental perception methods require specialized hardware and cannot achieve ubiquitous environmental perception.

[0005] If environmental perception is performed through communication base stations (wireless communication base stations) according to the radar perception principle, the communication base stations need to implement full-duplex base stations for transmission and reception. However, the current full-duplex technology has not yet made a breakthrough, and there are still key challenges in terms of isolation and interference elimination. Therefore, the communication base stations in the existing network mainly use time division and frequency division modes. Therefore, the communication base stations in the existing network require the cooperation of transmitting base stations and receiving base stations to complete environmental perception. However, research on multi-station collaborative environmental perception is still in a blank stage; at the same time, environmental perception through communication base stations according to the radar perception principle also requires the transmitter to traverse spatial directions to send signals, which has poor real-time performance.

[0006] In short, when environmental perception is performed through communication base stations, the communication base stations used need to meet very high preset conditions and have poor real-time performance, so their cost is high and their practical applications are limited.

[0007] Summary of the Invention

[0008] The present disclosure provides a method and device for wireless grayscale sensing of an environment, and a computer-readable medium.

[0009] In a first aspect, an embodiment of the present disclosure provides a method for wireless perception of environmental grayscale, comprising: obtaining a time domain impulse response of a perception echo signal received by a receiving end, wherein the perception echo signal is a signal formed by a perception signal simultaneously transmitted by a transmitting end into a continuous spatial range and transmitted to the receiving end; determining the angular energy of each angular direction of the receiving end within a predetermined continuous angular range based on the time domain impulse response of the perception echo signal, wherein the angular energy represents the intensity of the time domain impulse response of the perception echo signal in the angular direction; determining an environmental grayscale map of the receiving end based on the angular energies of multiple angular directions, wherein the environmental grayscale map includes pixels corresponding to the angular directions, and the grayscale values ​​of the pixels represent the angular energy of the corresponding angular directions.

[0010] In a second aspect, an embodiment of the present disclosure provides a device for wirelessly sensing environmental grayscale, comprising a memory and a processor, wherein the memory stores a computer program that can be executed by the processor, and when the computer program is executed by the processor, it implements any one of the methods for wirelessly sensing environmental grayscale of the embodiments of the present disclosure.

[0011] In some embodiments, the device for wirelessly sensing the environmental grayscale is the receiving end.

[0012] In a third aspect, an embodiment of the present disclosure provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements any one of the methods for wireless environmental grayscale perception of the embodiments of the present disclosure.

[0013] In the embodiment of the present disclosure, the receiving end determines an environmental grayscale map that can characterize the distribution of objects in the environment by analyzing the angular energy in each angular direction, so as to realize environmental perception (environmental grayscale perception), wherein it is sufficient to obtain the angular energy in each angular direction without distinguishing which direction the angular energy (perception echo signal) is caused by the perception signal. Therefore, the perception signal emitted by the transmitting end does not have to have high directionality (such as omnidirectional transmission), does not have to be transmitted in different directions at different times, and the transmitting end and the receiving end do not have to be synchronized, so that it has low preset conditions, good real-time performance, low cost, and is easy to use in practice. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In the accompanying drawings of the embodiments of the present disclosure:

[0015] FIG1 is a flow chart of a method for wirelessly sensing grayscale environments provided by an embodiment of the present disclosure;

[0016] FIG2 is a flow chart of another method for wirelessly sensing grayscale environments provided by an embodiment of the present disclosure;

[0017] FIG3 is a schematic flow chart of another scenario of a method for wireless grayscale sensing of an environment provided by an embodiment of the present disclosure;

[0018] FIG4 is a schematic diagram of a delay-Doppler spectrum of an antenna in another method for wirelessly sensing grayscale environments provided by an embodiment of the present disclosure;

[0019] FIG5 is a schematic diagram of a delay angle spectrum in another method for wirelessly sensing environmental grayscale provided by an embodiment of the present disclosure;

[0020] FIG6 is an environmental grayscale image of a receiving end 1 in another method for wirelessly sensing environmental grayscale provided by an embodiment of the present disclosure;

[0021] FIG7 is an environmental grayscale image of a receiving end 2 in another method for wirelessly sensing environmental grayscale provided by an embodiment of the present disclosure;

[0022] FIG8 is an environmental grayscale diagram in another method for wirelessly sensing environmental grayscale provided by an embodiment of the present disclosure;

[0023] FIG9 is a block diagram of a device for wirelessly sensing environmental grayscale provided by an embodiment of the present disclosure;

[0024] FIG10 is a block diagram of a computer-readable medium according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] To enable those skilled in the art to better understand the technical solutions of the present disclosure, the method and device for wirelessly sensing ambient grayscale and the computer-readable medium provided by the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0026] The present disclosure will be described more fully hereinafter with reference to the accompanying drawings, but the illustrated embodiments may be embodied in different forms, and the present disclosure should not be construed as limited to the embodiments set forth below. On the contrary, these embodiments are provided so that the present disclosure will be thorough and complete and will fully understand the scope of the present disclosure to those skilled in the art.

[0027] The accompanying drawings of the embodiments of the present disclosure are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the detailed embodiments, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. The above and other features and advantages will become more apparent to those skilled in the art by describing the detailed embodiments with reference to the accompanying drawings.

[0028] The present disclosure may be described with reference to plan views and / or cross-sectional views by way of ideal schematic views of the present disclosure. Therefore, the exemplary illustrations may be modified according to manufacturing techniques and / or tolerances.

[0029] In the absence of conflict, the various embodiments of the present disclosure and the various features therein may be combined with each other.

[0030] The terms used in this disclosure are only used to describe specific embodiments and are not intended to limit the disclosure. As used in this disclosure, the term "and / or" includes any and all combinations of one or more related enumerated items. As used in this disclosure, the singular forms "a" and "the" are also intended to include plural forms, unless the context clearly indicates otherwise. As used in this disclosure, the terms "comprising" and "made of" specify the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof.

[0031] Unless otherwise defined, all terms (including technical and scientific terms) used in this disclosure have the same meaning as commonly understood by those skilled in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and this disclosure, and will not be interpreted as having an idealized or overly formal meaning unless expressly defined in this disclosure.

[0032] The present disclosure is not limited to the embodiments shown in the drawings, but includes modifications of the configurations formed based on the manufacturing process. Therefore, the regions illustrated in the drawings have schematic properties, and the shapes of the regions shown in the drawings illustrate the specific shapes of the regions of the elements, but are not intended to be limiting.

[0033] Ubiquitous intelligent technology has gradually penetrated into people's daily lives and all walks of life, providing great support to people's lives and industrial upgrades.

[0034] Environmental perception is one of the applications of intelligent systems. It can be achieved by scanning the surrounding environment with radar or by capturing images of the surrounding environment with cameras. However, these methods require dedicated hardware and are not generalizable. However, communication signals are ubiquitous in the environment, making generalized environmental perception feasible through communication base stations.

[0035] Some related technologies use communication base stations for environmental perception in a manner similar to radar. Specifically, a base station transmits a signal, receives a corresponding echo signal, and analyzes the echo signal to determine the location of objects in the surrounding environment. However, this method requires a base station to transmit and receive signals simultaneously, requiring a full-duplex communication base station, which imposes high preconditions.

[0036] Other related technologies also employ the collaboration of multiple communication base stations for environmental perception. Specifically, a transmitting base station transmits signals in different directions at different times, while a receiving base station receives the corresponding echo signals and analyzes the relationship between the echo signals and the transmitted signal to determine the path the echo signals traversed. However, this approach requires the transmitter to transmit highly directional signals in multiple directions and requires synchronization between the transmitting and receiving base stations (to distinguish when the echo signals were transmitted), thus also having high preconditions.

[0037] Therefore, the technology of performing environmental perception through communication base stations in the related art has high pre-conditions, poor real-time performance, high cost, and limited practical application.

[0038] In a first aspect, referring to FIG. 1 to FIG. 8 , an embodiment of the present disclosure provides a method for wirelessly sensing environmental grayscale.

[0039] The embodiments of the present disclosure are used to achieve environmental perception (environmental grayscale perception), and more specifically, to achieve collaborative environmental perception, that is, to analyze the signals transmitted by the transmitter and received by the receiver to determine the distribution of objects in the environment (such as the direction of the objects, etc.).

[0040] In some embodiments, the transmitting end is a communication base station and the receiving end is a communication base station.

[0041] As one method of an embodiment of the present disclosure, a communication base station may be directly used as the above transmitting end and receiving end. Since communication base stations are already widely available and have the ability to transmit and receive signals, they can be used to achieve generalized environmental perception.

[0042] It should be understood that it is also feasible if the transmitting end and the receiving end are other devices with signal transmitting and receiving capabilities.

[0043] 1 , the method for wireless grayscale sensing of an environment according to an embodiment of the present disclosure includes the following steps S101 to S103 .

[0044] In step S101, a time domain impulse response of a perceived echo signal received by a receiving end is obtained.

[0045] The perception echo signal is a signal formed when the perception signal transmitted simultaneously by the transmitting end into a continuous spatial range is transmitted to the receiving end.

[0046] Referring to Figure 3, when environmental perception (environmental grayscale perception) is required, the transmitter simultaneously transmits a "perception signal (of course, a wireless signal)" in all directions within the spatial range (i.e., a continuous spatial range, such as the diagonal area in Figure 3). The perception signals in some directions may be transmitted to the receiving end (receiving end 1, receiving end 2), such as after one or more reflections from objects in the environment (object 1, no object 2) (of course, direct transmission may also be possible). The perception signal transmitted to the receiving end is received by the receiving end as a "perception echo signal", so the perception echo signal can reflect the distribution of objects in the environment.

[0047] It should be understood that the above “continuous spatial range” may be the entire 360-degree range surrounding the transmitting end, or may be a pre-set partial range thereof.

[0048] Since the sensing signal transmitted by the transmitting end does not need to have high directivity, it can transmit a wide-beam sensing signal. For example, the sensing signals in all directions in the shaded area in FIG3 can be a signal of one beam.

[0049] 3 , for clarity, the perception signal is represented by a solid arrow, and the perception echo signals of different receiving ends are represented by different dotted arrows.

[0050] In the embodiment of the present disclosure, the perception echo signal received by the receiving end is analyzed to obtain its time domain impulse response.

[0051] In some embodiments, the sensing signal is an omnidirectional signal transmitted once by the transmitting end; or, the sensing signal is transmitted multiple times in multiple directions by the transmitting end.

[0052] In the embodiment of the present disclosure, the transmitter and the receiver do not need to be synchronized, so it is feasible as long as the transmitter transmits the perception signal to a continuous spatial range at the same time. Specifically, it can be a single omnidirectional transmission or multiple multi-directional transmissions.

[0053] For each transmitting end, there may be one or more receiving ends. When there are multiple receiving ends, the perceived echo signal of each receiving end may be processed separately according to the method of the embodiment of the present disclosure.

[0054] The transmitter and receiver can be synchronized or asynchronous.

[0055] The configuration information of the perception signal can be sent in advance (e.g., by a control server) to the transmitter and receiver, such as time information, time-frequency resource information, frequency information, etc., so that the transmitter transmits the corresponding perception signal, and the receiver can distinguish the perception echo signal from all received signals.

[0056] In step S102, the angular energy of each angular direction within a predetermined continuous angular range is determined at the receiving end according to the time domain impulse response of the sensed echo signal.

[0057] Angular energy represents the intensity of the time domain impulse response of the perceived echo signal in the angular direction.

[0058] The time domain impulse response of the perceived echo signal from a certain continuous angular range is further analyzed to determine the intensity of the time domain impulse response of the receiving end in multiple directions (arrival angles) within the angular range, that is, the angular energy in multiple angular directions.

[0059] It should be understood that the above “continuous angle range” may be the entire range of 360 degrees surrounding the receiving end, or may be a pre-set partial range thereof.

[0060] In step S103, an environmental grayscale image of the receiving end is determined according to the angular energies in multiple angular directions.

[0061] The environment grayscale image includes pixels corresponding to angular directions, and the grayscale value of the pixel represents the angular energy of the corresponding angular direction.

[0062] 3 , when the perception signal is transmitted to the receiver after being reflected by different objects (or directly transmitted to the receiver), its delay and attenuation are different, and the arrival angle AOA (angular direction) relative to the receiver is also different. Therefore, the angular energy of the receiver in different angular directions is different, and the difference in angular energy can reflect the distribution of objects in the environment.

[0063] In an image (such as a radar chart), there is a certain position (pixel) corresponding to each angular direction. Therefore, referring to Figures 6 and 7, in the embodiment of the present disclosure, a corresponding environmental grayscale map is established for each receiving end based on the angular energy of each angular direction. The grayscale value of each pixel in the environmental grayscale map is determined based on the angular energy of the corresponding angular direction.

[0064] Therefore, the grayscale value of each pixel in the environmental grayscale map can reflect the angular energy of the corresponding angular direction, that is, the distribution of objects in the corresponding angular direction. Therefore, the environmental grayscale map of each receiving end can represent the distribution of objects around the receiving end, and can be used as the result of environmental perception.

[0065] The specific correspondence between the grayscale value and the angular energy can be set as needed.

[0066] For example, when the grayscale value is a brightness level within a certain range (0 to 255), the angular energy range (the range from the theoretical minimum value to the theoretical maximum value) can be divided into 256 equal parts, and the grayscale value of the corresponding brightness level can be assigned according to the part to which the specific angular energy belongs.

[0067] The specific form of the environmental grayscale map can also be determined according to the continuous angle range.

[0068] For example, if the continuous angle range is a certain azimuth angle range under a certain pitch angle, the actual range to be perceived is a plane under the pitch angle, and the corresponding environment grayscale map is a "line" with different grayscale values ​​at different positions on the line.

[0069] Specifically, as shown in Figure 6, for the receiving end 1 in Figure 3, it receives the perception echo signal in three ranges of angular directions, and the ranges of two angular directions are interconnected, so there are "three segments" of lines with different grayscale values ​​in its environmental grayscale map, and two of the lines are connected.

[0070] Specifically, as shown in FIG7 , for the receiving end 2 in FIG3 , it receives the perception echo signal in two separate angular ranges, so its environment grayscale image has “two segments” of separated lines with different grayscale values.

[0071] 6 and 7 , for clarity, the area between two straight lines represents the continuous angle range, and the arc-shaped thin solid line represents the pixels with a grayscale value of 0 in the environmental grayscale map, while the "lines" of other pixels with non-zero grayscale values ​​are widened.

[0072] For another example, referring to Figure 8, if the continuous angle range includes different pitch angle ranges and azimuth angle ranges, the range to be perceived is a "spatial area", and the corresponding environmental grayscale map is a "surface", and different positions of the surface have different grayscale values.

[0073] In the embodiment of the present disclosure, the receiving end determines an environmental grayscale map that can characterize the distribution of objects in the environment by analyzing the angular energy in each angular direction, so as to realize environmental perception (environmental grayscale perception), wherein it is sufficient to obtain the angular energy in each angular direction without distinguishing which direction the angular energy (perception echo signal) is caused by the perception signal. Therefore, the perception signal emitted by the transmitting end does not have to have high directionality (such as omnidirectional transmission), does not have to be transmitted in different directions at different times, and the transmitting end and the receiving end do not have to be synchronized, so that it has low preset conditions, good real-time performance, low cost, and is easy to use in practice.

[0074] In some embodiments, determining the angular energy of each angular direction within a predetermined continuous angular range at the receiving end according to the time domain impulse response of the sensed echo signal (S102) includes the following steps S1021 to S1022.

[0075] In step S1021, a delay-Doppler spectrum is determined according to a time-domain impulse response of the sensed echo signal.

[0076] In step S1022, the angular energy of each angular direction within a predetermined continuous angular range at the receiving end is determined according to the delay-Doppler spectrum.

[0077] In some embodiments, determining the angular energy of each angular direction within a predetermined continuous angular range at the receiving end according to the delay-Doppler spectrum ( S1022 ) includes the following steps S10221 to S10222 .

[0078] In step S10221, environmental data is extracted from the delay-Doppler spectrum.

[0079] The environmental data is data in which the absolute value of the frequency shift in the delay-Doppler spectrum is less than a predetermined threshold.

[0080] In step S10222, the angular energy of each angular direction within a predetermined continuous angular range at the receiving end is determined according to the environmental data.

[0081] As one embodiment of the present disclosure, a “delay-Doppler spectrum” including both time-domain and frequency-domain information may be obtained based on the time-domain impulse response, and then the angle energy may be determined based on the delay-Doppler spectrum.

[0082] The form of the delay-Doppler spectrum can be seen in FIG4 , which includes intensity values ​​at different frequency shifts and different time delays (Ts).

[0083] In some specific applications, environmental perception only wants to perceive fixed objects in the environment, such as buildings and terrain, but does not want to perceive moving objects such as vehicles and pedestrians.

[0084] In the Delay-Doppler spectrum, frequency shift is typically caused by the motion of an object (the object reflecting the sensing signal). To this end, a predetermined frequency shift threshold (H) can be set based on experience or simulation. Referring to the solid circle in Figure 4, the data with a frequency shift between -H and H (data with almost no frequency shift) is extracted from the Delay-Doppler spectrum as environmental data. The angular energy is calculated based on this data. Data with larger frequency shifts, even if a response is present, is not considered, as shown in the dashed circle in Figure 4. Thus, the objects identified based on this environmental data are all "stationary objects," while unnecessary "moving objects" are eliminated.

[0085] It should be understood that if it is desired to sense moving objects in some applications, or if it can be determined that there are no moving objects in the environment, the above step of extracting environmental data may not be performed.

[0086] In some embodiments, the receiving end has multiple antennas. Referring to FIG2 , obtaining a time domain impulse response of a perceived echo signal received by the receiving end ( S101 ) includes step S1011 .

[0087] In step S1011, a time domain impulse response of a perceived echo signal received by each antenna at the receiving end is obtained.

[0088] As one embodiment of the present disclosure, the receiving end may have multiple antennas, that is, multiple antenna elements and channels. Thus, each antenna at the receiving end can independently receive and sense the echo signal, and thus corresponding time-domain impulse response data can be derived for each antenna, such as the delay-Doppler spectrum described above.

[0089] In particular, when the receiving end has multiple antenna elements and channels, it can "simultaneously" receive signals from multiple directions. Therefore, the transmitting end can transmit the perception signal "once" (such as a single omnidirectional transmission), and the receiving end can also receive the perception echo signal at the same time. Therefore, environmental perception can be completed in a very short time, further improving efficiency.

[0090] In some embodiments, determining the angular energy of each angular direction within a predetermined continuous angular range at the receiving end according to the time domain impulse response of the sensed echo signal ( S102 ) includes the following steps S1023 to S1024 .

[0091] In step S1023, according to each angular direction, directional filtering is performed on the time domain impulse response of the perception echo signals received by multiple antennas to obtain a time delay power spectrum of the angular direction.

[0092] In step S1024, the angular energy of each angular direction is determined according to the time delay power spectrum of the angular direction.

[0093] When the receiving end has multiple antennas, the corresponding time-domain impulse response data also corresponds to multiple antennas. To this end, for each angular direction, the multi-antenna time-domain impulse response data (such as multi-antenna environmental data) can be directional filtered according to its vector direction. This separates the data corresponding to that angular direction, namely the delay power spectrum (intensity at different delays) of that angular direction.

[0094] Specifically, the above directional filtering may be performed in a traversal manner.

[0095] For example, the predetermined continuous angle range is the azimuth angle in [α1, α2], the pitch angle in [β1, β2], the azimuth angle step size (or resolution) is dα, and the pitch angle step size (or resolution) is dβ. Then, starting from the predetermined angle of (α1, β1), directional filtering can be performed on each k, i combination in (α1+kdα, β1+idβ), where k is an integer in the range of [0, (α2-α1) / dα], and i is an integer in the range of [0, (β2-β1) / dβ].

[0096] Furthermore, the delay power spectra in multiple angular directions may be further combined into a form of a "delay angle spectrum" to further determine the angular energy based on the delay angle spectrum.

[0097] For example, the time delay angle spectrum may refer to FIG. 5 , which includes the intensity at each time delay (Ts) at each arrival angle AOA (angular direction).

[0098] The three areas in Figure 5 correspond to three objects that can reflect the sensing signal, that is, the three ranges where the sensing echo signal is actually received. In each area, there are still multiple delay-intensity curves at different angles. At other angles, since there are no objects, no sensing echo signal is received, and the intensity is all 0.

[0099] In some embodiments, determining the angular energy of each angular direction according to the time delay power spectrum of the angular direction (S1024) includes step S10241.

[0100] In step S10241, the maximum value or average value of the amplitude in the delay power spectrum of each angular direction is determined as the angular energy of the angular direction.

[0101] Each angular direction has different intensities at different time delays. If the angular direction also corresponds to a certain frequency shift range, the intensity distribution at different frequency shifts will also be different, but the final determined angular energy (grayscale value) should be only one. To achieve this, for each angular direction, the maximum value of all intensity amplitudes can be selected as the angular energy, or the average of multiple amplitudes can be selected as the angular energy, and then the corresponding grayscale value can be determined based on this angular energy.

[0102] It should be understood that it is also feasible to use other methods (such as taking the median, weighted average, etc.) to determine the angular energy in each angular direction.

[0103] In some embodiments, determining the angular energy of each angular direction according to the time delay power spectrum of the angular direction (S1024) includes the following steps S102421 to S102422.

[0104] In step S102421, the relative distance and amplitude peak value of at least one sampling point in the delay power spectrum in each angular direction are determined.

[0105] In step S102422, the grayscale value of the pixel represents the peak amplitude of the sampling point in the corresponding angular direction.

[0106] The pixel also includes the relative distance value of the sampling point in the corresponding angular direction.

[0107] The time delay also reflects the transmission distance of the signal, and the transmission distance can reflect the distribution of objects in the environment. Therefore, the corresponding distance (relative distance) and amplitude peak (angular energy) can be determined according to the specific time delay of the sampling point in the delay power spectrum. Then, the grayscale value of the corresponding pixel in the environmental grayscale image can be calculated according to the amplitude peak. At the same time, the above relative distance is also marked on the corresponding pixel so that the environmental grayscale image can reflect more information.

[0108] There are various specific ways to select the above sampling points. For example, a predetermined number of sampling points with the highest intensities can be selected from the points whose intensities exceed a predetermined intensity threshold.

[0109] It should be understood that the above content of determining the delay power spectrum based on the time domain impulse response is a description of the specific format of the time domain impulse response data, and the above content of performing directional filtering is a description of the process of how to determine the angular energy of each angular direction in the case of multiple antennas. The two are for different contents and can therefore exist at the same time.

[0110] For example, referring to FIG2 , in an embodiment of the present disclosure, the process of determining the angular energy of each angular direction within a predetermined continuous angular range at the receiving end according to the time domain impulse response of the perceived echo signal ( S102 ) may include the following steps S102A1 to S102A4 .

[0111] In step S102A1, the delay-Doppler spectrum of each antenna is determined based on the time-domain impulse response of the sensed echo signal.

[0112] In step S102A2, environmental data is extracted from each delay-Doppler spectrum.

[0113] In step S102A3, directional filtering is performed on the environmental data of multiple antennas according to each angular direction to obtain a time delay power spectrum of the angular direction.

[0114] In step S102A4, the angular energy of each angular direction is determined based on the time delay power spectrum of the angular direction.

[0115] In some embodiments, referring to FIG. 2 , after determining the environment grayscale image of the receiving end according to the angular energies in multiple angular directions ( S103 ), step S104 is further included.

[0116] In step S104, image segmentation is performed on the environment grayscale image.

[0117] The environmental grayscale image can reflect the distribution of objects in the environment. For a continuous surface of an object, the grayscale values ​​of corresponding pixels in the environmental grayscale image are usually the same or similar. To this end, image segmentation techniques in the field of image processing can be used to segment the environmental grayscale image and distinguish different objects within it.

[0118] There are many specific image segmentation algorithms, such as threshold-based image segmentation, continuity-based image segmentation, or image segmentation through pre-trained neural networks, all of which are feasible.

[0119] For example, some specific examples of the method for wireless grayscale sensing of the environment according to the embodiment of the present disclosure are introduced below.

[0120] Referring to Figure 3, the system for wireless grayscale environmental perception includes a transmitter and two receivers (receiver 1 and receiver 2). Each receiver has multiple antennas. The transmitter transmits a wide-beam perception signal (see the shaded area in the figure). Fixed objects in the environment (object 1 and object 2) will reflect part of the perception signal. Due to the different positions of the two receivers, they receive different perception echo signals.

[0121] Accordingly, for each receiving end, the method for wirelessly sensing grayscale environments according to an embodiment of the present disclosure may include the following steps A101 to A106.

[0122] In step A101, the receiving end receives the perception echo signal, analyzes and calculates the time domain impulse response of the perception echo signal of multiple antennas, performs matched filtering on the perception echo signal in the distance dimension, and obtains the delay Doppler spectrum shown in FIG4 for each antenna.

[0123] In step A102, a frequency shift threshold H is set based on experience or simulation calculations, and data with a frequency shift of [-H, H] (data within the solid loop in FIG4 ) is extracted from the delay-Doppler spectrum of each antenna as environmental data.

[0124] Referring to Figure 4, there are also some data peaks (data within the dotted circle) at the location with the largest frequency shift, indicating that there is actually a moving object (such as a pedestrian) in the environment of Figure 3 that causes the above peaks, but this part of the data will not be selected as environmental data and will not affect the subsequent perception process.

[0125] In step A103 , spatial ergodic filtering is performed on the multi-antenna environment data.

[0126] With the azimuth step size of dα and the elevation step size of dβ, direction filtering is performed on the directions corresponding to each k, i combination in (α1+kdα, β1+idβ), where k is an integer in the range of [0, (α2-α1) / dα] and i is an integer in the range of [0, (β2-β1) / dβ], thereby realizing traversal of all angular directions in the azimuth range [α1, α2] and the elevation range [β1, β2].

[0127] In step A104, a time delay angle spectrum is obtained according to the result of the spatial ergodic filtering, which includes the energy value corresponding to each filtering direction (angle direction) vector direction.

[0128] In step A105, the data with the maximum energy amplitude in each direction of the delay angle spectrum is selected as the angle energy in the angle direction.

[0129] In step A106 , corresponding grayscale values ​​are assigned to corresponding pixels of the radar image according to the angular energy of each angular direction to obtain an environmental grayscale image.

[0130] The environmental grayscale images obtained by the receiving end 1 and the receiving end 2 are shown in FIG6 and FIG7 respectively.

[0131] In the second aspect, referring to Figure 9, an embodiment of the present disclosure provides a device for wirelessly sensing environmental grayscale, which includes a memory and a processor. The memory stores a computer program that can be executed by the processor. When the computer program is executed by the processor, any one of the methods for wirelessly sensing environmental grayscale of the embodiments of the present disclosure is implemented.

[0132] The device for wirelessly sensing environmental grayscale according to the embodiment of the present disclosure can perform the above method for wirelessly sensing environmental grayscale, that is, can implement the above signal processing process.

[0133] In some embodiments, the device for wirelessly sensing the grayscale of the environment is a receiving end.

[0134] Furthermore, the device for wirelessly sensing the grayscale of the environment may be a receiving end (such as a communication base station), that is, the receiving end may directly process the signal it receives to achieve environmental perception.

[0135] It should be understood that it is also feasible if the device for wirelessly sensing the grayscale environment is a device other than the receiving end that has data processing capabilities (such as a control server).

[0136] In a third aspect, referring to FIG. 10 , an embodiment of the present disclosure provides a computer-readable medium having a computer program stored thereon. When the computer program is executed by a processor, any one of the methods for wireless environmental grayscale perception according to the embodiments of the present disclosure is implemented.

[0137] A processor is a device with data processing capabilities, including but not limited to a central processing unit (CPU); a memory is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); an I / O interface (read-write interface) is connected between the processor and the memory, enabling information exchange between the memory and the processor, including but not limited to a data bus (Bus), etc.

[0138] Those skilled in the art will appreciate that all or some of the steps, systems, and functional modules / units in the apparatus disclosed above may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0139] In hardware implementations, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation.

[0140] Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit (CPU), a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH) or other disk storage; compact disc (CD-ROM), digital versatile disc (DVD) or other optical disc storage; magnetic cassettes, tapes, disk storage or other magnetic storage; any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0141] The present disclosure has disclosed example embodiments, and although specific terms are employed, they are used and should be interpreted only in a general illustrative sense and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that, unless otherwise expressly indicated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone or in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the present disclosure as set forth in the appended claims.

Claims

1. A method for wirelessly sensing grayscale environments, comprising: Acquiring a time domain impulse response of a perception echo signal received by a receiving end, wherein the perception echo signal is a signal formed by transmitting perception signals simultaneously transmitted into a continuous spatial range from a transmitting end to the receiving end; determining an angular energy of each angular direction within a predetermined continuous angular range at the receiving end according to a time domain impulse response of the perceived echo signal, wherein the angular energy represents the intensity of the time domain impulse response of the perceived echo signal in the angular direction; An environmental grayscale map of the receiving end is determined according to the angular energies of the plurality of angular directions, wherein the environmental grayscale map includes pixels corresponding to the angular directions, and the grayscale values ​​of the pixels represent the angular energies of the corresponding angular directions.

2. The method according to claim 1, wherein Determining the angular energy of each angular direction of the receiving end within a predetermined continuous angular range according to the time domain impulse response of the sensed echo signal includes: determining a delay Doppler spectrum according to a time domain impulse response of the sensed echo signal; The angular energy of each angular direction of the receiving end within a predetermined continuous angular range is determined according to the delay Doppler spectrum.

3. The method according to claim 2, wherein: Determining the angular energy of each angular direction of the receiving end within a predetermined continuous angular range according to the delay-Doppler spectrum includes: Extracting environmental data from the delay-Doppler spectrum, wherein the environmental data is data in the delay-Doppler spectrum whose absolute value of frequency shift is less than a predetermined threshold; The angular energy of each angular direction of the receiving end within a predetermined continuous angular range is determined according to the environmental data.

4. The method according to claim 1, wherein The receiving end has multiple antennas, and obtaining a time domain impulse response of a perception echo signal received by the receiving end includes: Acquire a time domain impulse response of the perceived echo signal received by each antenna of the receiving end.

5. The method according to claim 4, wherein Determining the angular energy of each angular direction of the receiving end within a predetermined continuous angular range according to the time domain impulse response of the sensed echo signal includes: According to each of the angular directions, directional filtering is performed on the time domain impulse responses of the perception echo signals received by the plurality of antennas to obtain a time delay power spectrum of the angular direction; The angular energy of each angular direction is determined according to the time delay power spectrum of the angular direction.

6. The method according to claim 5, wherein: Determining the angular energy of each angular direction according to the time delay power spectrum of the angular direction includes: The maximum value or average value of the amplitude in the time delay power spectrum of each of the angular directions is determined as the angular energy of the angular direction.

7. The method according to claim 1, wherein After determining the environment grayscale image of the receiving end according to the angular energies of the multiple angular directions, the method further includes: Perform image segmentation on the environment grayscale image.

8. The method according to claim 1, wherein The sensing signal is an omnidirectional signal transmitted once by the transmitting end; or The sensing signal is transmitted multiple times and in multiple directions by the transmitting end.

9. The method according to claim 1, wherein: The transmitting end is a communication base station; The receiving end is a communication base station.

10. A device for wirelessly sensing grayscale environments, comprising a memory and a processor. The memory stores a computer program that can be executed by the processor. When the computer program is executed by the processor, the processor implements the method for wireless perception of environmental grayscale according to any one of claims 1 to 9.

11. The apparatus according to claim 10, wherein The device for wirelessly sensing the environmental grayscale is the receiving end.

12. A computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the processor implements the method for wireless environmental grayscale perception according to any one of claims 1 to 9.

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