Sensing method and apparatus, storage medium, and program product

Abstract

A sensing method and apparatus, a storage medium, and a program product. The method comprises: determining first position information on the basis of a first echo signal reflected by a first object at a preset position, wherein the preset position is a position where a second object is located, and the first position information is used for indicating a position of the first object; obtaining a second echo signal reflected by the second object at the preset position; and determining, on the basis of the first position information, sensing data of the second object from the second echo signal.

Description

Perception method and apparatus, storage medium, and program product

[0001] The present disclosure claims priority to Chinese Patent Application No. 202411260803.0, filed on September 9, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of communication, and in particular to a perception method and apparatus, a storage medium, and a program product. BACKGROUND

[0003] In a wireless perception scenario, when extracting perception data of a to-be-detected target, echoes of objects in a perception range will cause great interference to echoes of the to-be-detected target, resulting in inaccurate extracted perception data. SUMMARY

[0004] Embodiments of the present disclosure provide a perception method, apparatus, storage medium, and program product.

[0005] In an aspect, a perception method is provided, which includes: determining first position information based on a first echo signal reflected by a first object at a preset position; the preset position is a position where a second object is located, and the first position information is used to indicate a position of the first object; obtaining a second echo signal reflected by the second object at the preset position; and determining perception data of the second object from the second echo signal based on the first position information.

[0006] In another aspect, a perception apparatus is provided, which includes: a communication unit and a processing unit; the processing unit is configured to determine first position information based on a first echo signal reflected by a first object at a preset position; the preset position is a position where a second object is located, and the first position information is used to indicate a position of the first object; the communication unit is configured to obtain a second echo signal reflected by the second object at the preset position; and the processing unit is further configured to determine perception data of the second object from the second echo signal based on the first position information.

[0007] In yet another aspect, a perception apparatus is provided, which includes: a memory and a processor; the memory and the processor are coupled; the memory is configured to store a computer program; and the processor is configured to implement the above-mentioned information processing method when executing the computer program.

[0008] In yet another aspect, a computer-readable storage medium is provided, which stores computer program instructions, and the computer program instructions are configured to implement the above-mentioned information processing method when executed by a processor.

[0009] In yet another aspect, a computer program product is provided, which includes computer program instructions, which, when executed by a processor, implement the information processing method described above. BRIEF DESCRIPTION OF DRAWINGS

[0010] FIG. 1 is a system architecture diagram of a perception system according to some embodiments;

[0011] FIG. 2 is a flowchart of a perception method according to some embodiments;

[0012] FIG. 3 is a flowchart of another perception method according to some embodiments;

[0013] FIG. 4 is a schematic diagram of a scenario in which a perception node perceives a first object according to some embodiments;

[0014] FIG. 5 is a schematic diagram of a perception signal format and a communication signal format according to some embodiments;

[0015] FIG. 6 is a flowchart of yet another perception method according to some embodiments;

[0016] FIG. 7 is a gray-scale diagram of a time-angle trajectory or a time-distance trajectory according to some embodiments;

[0017] FIG. 8 is a flowchart of yet another perception method according to some embodiments;

[0018] FIG. 9 is a schematic diagram of a perception node perceiving a first object as the first object moves along a first preset trajectory according to some embodiments;

[0019] FIG. 10 is a schematic diagram of a perception node perceiving a first object as the first object moves along a second preset trajectory according to some embodiments;

[0020] FIG. 11 is a schematic diagram of a perception node perceiving a first object as the first object moves along a third preset trajectory according to some embodiments;

[0021] FIG. 12 is a schematic diagram of Doppler data in a plurality of third echo signals according to some embodiments;

[0022] FIG. 13 is a gray-scale diagram of a time-distance trajectory as a first object moves along a first preset trajectory according to some embodiments;

[0023] FIG. 14 is a gray-scale diagram of a time-distance trajectory as a first object moves along a second preset trajectory according to some embodiments;

[0024] FIG. 15 is a block diagram of a perception device according to some embodiments;

[0025] FIG. 16 is a block diagram of a hardware structure of a perception device according to some embodiments. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the embodiments of the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the embodiments of the present disclosure.

[0027] It should be noted that in the embodiments of the present disclosure, the words such as "exemplarily" or "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplarily" or "for example" in the embodiments of the present disclosure should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "exemplarily" or "for example" are intended to present the relevant concept in a specific manner.

[0028] Hereinafter, the terms "first", "second", and the like are used only for descriptive purposes, and should not be construed as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", and the like can explicitly or implicitly include one or more features.

[0029] In the description of the embodiments of the present disclosure, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this document only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, "at least one" means one or more, and "multiple" means two or more.

[0030] In the related art, when performing wireless perception (such as deformation monitoring, environment reconstruction, or three-dimensional imaging), it is necessary to extract the perception data of the target to be measured. However, when the radar cross section (RCS) of the target to be measured is relatively small, the peak value of the echo signal of the target to be measured may be disturbed by background noise (such as other objects in the area where the target to be measured is located), making it difficult to accurately extract the perception data of the target to be measured from the echo signal. For example, when there are buildings, trees, bridges and other obstacles around the target to be measured, the noise generated by these obstacles will greatly interfere with the perception of the target to be measured, making it difficult to accurately extract the perception data of the target to be measured from the echo signal.

[0031] To solve the technical problem, in the related art, the relative position (e.g., relative distance, azimuth angle, and elevation angle) between the to-be-measured target and the sensing node (also referred to as a sensing base station) can be measured in advance by an instrument. Thereafter, the sensing data corresponding to the relative position is extracted from the received echo signal as the sensing data of the to-be-measured target.

[0032] However, when the relative position between the to-be-measured target and the sensing node is determined at present, it is easy to be affected by the following factors, resulting in inaccurate measured relative position, and further resulting in inaccurate extracted sensing data of the to-be-measured target. In the first aspect, due to the measurement accuracy of the measuring instrument and the operation level of the operator, there is usually a large error between the measured position and the actual position; in the second aspect, in the sensing process, the sensing node is affected by factors such as temperature, humidity, and crystal oscillator stability, and also produces errors. In addition, in the A-transmit-B-receive sensing system, due to the large synchronization error between the sensing nodes, the target peak value of the channel state information (CSI) of the channel will drift over time, which will cause the position represented by the sensing data of the to-be-measured target in the echo signal to be inconsistent with the actual position of the to-be-measured target. In the A-transmit-A-receive sensing system, the position represented by the sensing data of the to-be-measured target is also inconsistent with the actual position of the to-be-measured target due to environmental influences, and further resulting in inaccurate extracted sensing data of the to-be-measured target.

[0033] To solve the above technical problem, the present disclosure provides a sensing method, before sensing a second object, a first object is set at a position where the second object is located, and the first object is sensed to determine first position information of the first object based on an echo signal of the first object. Thereafter, when the second object is sensed and measured, the sensing data of the second object is extracted from the measured sensing data based on the first position information. Since the position information used to extract the sensing information of the second object in the present disclosure is not actual position information, but position information determined based on sensing the first object at the same position, the present disclosure can effectively avoid the problem that the position information of the sensing data is inconsistent with the actual position due to the influence of the sensing system on the environment, thereby improving the accuracy of the extracted sensing data of the second object.

[0034] The sensing method provided by the embodiments of the present disclosure can be applied to a sensing system 10 as shown in FIG. 1. As shown in FIG. 1, the sensing system 10 includes a sensing node 101, a first object 102, and a second object 103. The sensing node 101 is configured to transmit a sensing signal, receive an echo signal, and determine sensing data of the second object 103 based on the echo signal.

[0035] In some embodiments, the perception node 101 pre-transmits a perception signal, a first object 102 at a preset position reflects the perception signal, the perception node 101 receives a first echo signal of the perception signal reflected by the first object 102, and analyzes the first echo signal to determine first position information of the first object 102. Thereafter, a second object 103 at a preset position reflects the perception signal, the perception node 101 receives a second echo signal of the perception signal reflected by the second object 103, and analyzes the second echo signal to determine perception data of the second object 103 based on the first position information.

[0036] In some embodiments, the process of the perception node 101 perceiving the second object 103 can be divided into an auxiliary perception stage and an actual perception stage. For example, the process of the perception node 101 perceiving the first object 102 to determine the first position information of the first object 102 can also be referred to as the auxiliary perception stage. The process of the perception node 101 perceiving the second object 103 based on the first position information to determine the perception data of the second object 103 can also be referred to as the actual perception stage.

[0037] In some embodiments, the first object 102 can move along a preset trajectory, so that the Doppler filtering can filter out the clutter of stationary interference objects in the area where the first object is located, and improve the accuracy of the determined first position information.

[0038] In some embodiments, the first object 102 is also referred to as an auxiliary target, and the second object 103 is also referred to as a target to be measured.

[0039] It should be noted that only one perception node is used for perception in FIG. 1. In actual application, perception can be performed by multiple perception nodes together, for example, at least two perception nodes perceive the first object and the second object in an A-transmitting and B-receiving scenario, and the present disclosure does not limit this.

[0040] It should be noted that FIG. 1 is only an exemplary block diagram, the number of devices included in FIG. 1, and the names of the devices are not limited, and in addition to the devices shown in FIG. 1, the perception system can also include other devices, such as a perception base station and the like.

[0041] The application scenario of the embodiments of the present disclosure is not limited. The system architecture and business scenario described in the embodiments of the present disclosure are used to more clearly illustrate the technical solutions of the embodiments of the present disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. It can be known by those skilled in the art that, as the network architecture evolves and new business scenarios appear, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0042] The sensing method provided in the embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0043] Figure 2 is a flowchart of a sensing method according to some embodiments. In this method, the location information used by the sensing node to extract the sensing information of the second object is not the actual location information, but the location information determined based on the sensing of the first object at the same location. This effectively avoids the problem of inconsistency between the location information of the sensing data and the actual location caused by the influence of the environment on the sensing system, and improves the accuracy of the extracted sensing data of the target to be measured. The functions and operations of each device in the sensing system provided by the embodiments of this disclosure are described below. As shown in Figure 2, the sensing method includes the following steps S201 to S203.

[0044] In S201, the sensing node determines the first position information based on the first echo signal reflected by the first object at the preset position.

[0045] Here, the preset position is the location of the second object, and the first position information is used to indicate the position of the first object.

[0046] In some embodiments, the staff pre-positions a first object (also called an auxiliary target) at the location of the second object (also called the target to be measured) (i.e., a preset location). The sensing node sends a sensing signal. After the sensing signal reaches the location of the first object, the first object reflects the sensing signal. The sensing node receives the sensing signal reflected by the first object and identifies it as the first echo signal.

[0047] It should be noted that the first echo signal, in addition to passing through the second object, may also pass through other targets (such as trees, bridges, buildings, and other obstacles) within the area where the preset location is located. Therefore, the first echo signal can also represent relevant sensing information about these other targets. In other words, after the sensing node sends the sensing signal, when the sensing signal reaches the interfering object and the first object within the preset area, these objects (e.g., the interfering object and the first object) will reflect the sensing signal respectively. The first echo signal received by the sensing node is the superposition of the echo signals obtained after these objects reflect the sensing signal respectively. The preset location is located within this preset area.

[0048] In some embodiments, the first location information comprises a distance and an angle between the preset location and the sensing node. For example, S201 can be implemented by the following procedures: the sensing node can determine the distance between the sensing node and the first object (i.e., the preset location) based on the time delay of the first echo signal (e.g., multiplying the time delay by the speed of light as the distance between the sensing node and the first object); and determine the angle (e.g., the pitch angle and / or the azimuth angle) between the sensing node and the first object based on an angle estimation algorithm for the first echo signal. For example, the angle estimation algorithm comprises at least one of the following: a spectral peak search algorithm, a super-resolution estimation algorithm (e.g., Multiple Signal Classification (MUSIC), Capon, and Esprit). In this way, the sensing node can determine the relative location between the sensing node and the first object based on the distance and the angle between the sensing node and the first object, and take the relative location as the first location information.

[0049] In some embodiments, the first object is an auxiliary target moving along a preset trajectory, and the preset location is a specific location in the preset trajectory. After the sensing node obtains the first echo signal and other echo signals of the first object when the first object moves along the preset trajectory, the sensing node processes the received echo signals by means of Doppler filtering to filter out the echo signals of stationary objects. After that, the sensing node performs trajectory analysis based on the Doppler filtered echo signals to determine the moving trajectory of the object corresponding to each echo signal, and determines the object whose moving trajectory matches the preset trajectory as the first object, and selects the echo signal of the position in the moving trajectory of the first object which matches the relative location of the preset location in the preset trajectory as the first echo signal.

[0050] In yet some embodiments, the first object is an auxiliary target with a specific material and / or a specific structure, so that the sensing node determines the echo signal capable of reflecting the specific material and / or the specific structure as the first echo signal. In some embodiments, the first object can be selected as an object with a larger RCS, such as an angle reflector or a metal plate. The first object is an object that can move freely.

[0051] In S202, the sensing node obtains a second echo signal reflected by a second object at the preset location.

[0052] In some embodiments, after the sensing node determines the first location information by sensing the first object, the sensing node removes the first object and senses the second object. For example, the sensing node sends a sensing signal, and the second object at the preset location reflects the sensing signal. After the sensing node receives the reflected signal, the sensing node determines the reflected signal as the second echo signal.

[0053] As an implementation manner, in some embodiments, the second echo signal can be an echo signal reflected by the second object and an interference object of the second object in the preset area. In other words, after the perception node transmits the perception signal, the interference object and the second object in the preset area reflect the perception signal respectively, and the second echo signal received by the perception node is an echo signal obtained by superimposing the echo signals reflected by the interference object and the second object.

[0054] In some embodiments, the second object can be an object without a communication module, such as a bridge, a tree, a building, and the like. The second object needs to be in the coverage range of the perception node.

[0055] In S203, the perception node determines the perception data of the second object from the second echo signal based on the first position information.

[0056] As an implementation manner, the perception node determines the perception data of the preset area based on the perception signal transmitted by the perception node and the second echo signal. Here, the process of the channel estimation can refer to the manner of channel estimation in the related art, and the present disclosure will not be repeated here.

[0057] After determining the perception data of the preset area, the perception node performs spatial domain filtering on the perception data based on the first position information to obtain the perception data of the second object. As an example, the process of the spatial domain filtering is as follows: the perception node constructs a steering vector in the horizontal direction and the vertical direction respectively, and performs a Kronecker product, and then performs a point multiplication with the corresponding points of the perception data h obtained after the channel estimation to determine the perception data of the second object. For example, the perception data t of the second object satisfies the following formula 1:

[0058] In the formula, h is the perception data obtained after the channel estimation, a is the steering vector, θ is the azimuth angle, φ is the elevation angle, λ is the wavelength, d is the array interval, Nz is the number of horizontal direction array elements, Ny is the vertical direction array interval, and kron is the Kronecker product.

[0059] It should be noted that the perception node can also determine the perception data of the second object from the second echo signal based on the first position information in other manners, which is not limited in the present disclosure.

[0060] The embodiment of the present disclosure provides a sensing method, wherein a first object is set at a position where a second object is located before sensing the second object, the first object is sensed, and first position information where the first object is located is determined based on an echo signal of the first object. After that, when the sensing node performs sensing measurement on the second object, the sensing data of the second object is extracted from the measured sensing data based on the first position information. Since the position information used for extracting the sensing information of the second object is not actual position information, but position information determined based on sensing the first object at the same position, the embodiment of the present disclosure can effectively avoid the problem that the position information of the sensing data is inconsistent with the actual position due to the influence of the environment on the sensing system, thereby improving the accuracy of the extracted sensing data of the target to be measured.

[0061] In some embodiments, in combination with FIG. 2, as shown in FIG. 3, the process that the sensing node determines the first position information based on the first echo signal reflected by the first object at the preset position in S201 can be implemented through S301-S303.

[0062] In S301, the sensing node acquires a plurality of third echo signals reflected by the first object when the first object moves along the preset trajectory.

[0063] Here, the preset position is located in the preset trajectory.

[0064] In some implementations, the sensing system is first initialized. The sensing node sends a sensing signal based on the configured sensing resource; for example, a schematic diagram in which the sensing node sends a sensing signal is shown in FIG. 4. The first object moves along the preset trajectory, and the sensing node periodically sends a sensing signal during the movement of the first object. Correspondingly, the first object reflects each periodically sent sensing signal, and the sensing node periodically receives the third echo signal reflected by the first object.

[0065] When the first object moves along the preset trajectory, the first object can be moved along the preset trajectory by a staff member holding the first object; or the first object can be placed on a movable device (such as a robot) to carry the first object to move along the preset trajectory; or the first object can be increased in movement function to autonomously move along the preset trajectory; or the first object can be moved along the preset trajectory through other ways, which are not limited by the present disclosure.

[0066] In some embodiments, the perception system includes, but is not limited to, a transmitter, a receiver, a target to be detected, and an auxiliary target. It should be noted that in the perception system with A-to-A, the transmitter and the receiver can be the same perception node (i.e., the transmitter and the receiver are integrated), at which part of the antennas are used to send the perception signal and the other part of the antennas are used to receive the echo signal. In the perception system with A-to-B, the transmitter and the receiver can be different perception nodes (i.e., the transmitter and the receiver are separated). For example, the transmitter is a 5G base station or a ground-based radar, and the transmitter periodically sends the perception signal based on the preset perception resource. The receiver receives the perception signal (which can be a reflected perception signal, also known as an echo signal) sent by the transmitter. As an example, when the transmitter is a 5G base station, the format of the perception signal and the format of the communication signal are as shown in FIG. 5.

[0067] As an example, the preset trajectory includes at least one of the following: a straight line with the preset position as the starting point; a straight line with the preset position as the ending point; a polyline with the preset position as the inflection point; a cross line with the preset position as the intersection point. In addition, the preset trajectory can also be other types of trajectories, which are not limited by the present disclosure.

[0068] In some embodiments, the moving speed of the first object along the preset trajectory is less than the preset speed; and the Doppler shift generated by the preset speed is less than the preset Doppler shift threshold. For example, the preset Doppler shift threshold can be the maximum Doppler shift supported by the perception node; in this way, the Doppler shift generated by the first object when moving along the preset trajectory can be less than the maximum Doppler shift supported by the perception node, and the signal quality of the received echo signal reflected by the first object can be improved. As an example, the moving speed v of the first object along the preset trajectory satisfies the following formula 2:

[0069] In the formula, λ is the carrier wavelength; θ is the angle between the line connecting the second object and the perception node and the velocity direction; and T is the period of sending the perception symbol. is the double base angle (i.e., the angle between the line connecting the second object and the perception node and the velocity direction); φ is the angle between the angle bisector of φ and the velocity direction; and T is the period of sending the perception symbol.

[0070] In S302, the perception node determines the position information of the plurality of third objects in the preset area indicated by each of the plurality of third echo signals.

[0071] For example, the preset trajectory is located in the preset area; and the plurality of third objects includes the first object.

[0072] In some embodiments, the third position information comprises a distance and an angle between the corresponding third object and the perception node. For example, S302 can be implemented by the following process: the perception node can determine the distance between the perception node and the corresponding third object based on the time delay of the third echo signal (e.g., multiply the time delay by the speed of light as the distance between the perception node and the third object); and determine the angle (e.g., the pitch angle and / or the azimuth angle) between the perception node and the corresponding third object based on the angle estimation algorithm for the third echo signal. The perception node can determine the relative position between the perception node and the third object based on the distance and the angle between the perception node and the third object, and determine the relative position as the position information of the third object.

[0073] In S303, the perception node determines the first position information of the first object based on the position information of the plurality of third objects indicated by the plurality of third echo signals.

[0074] As an implementation manner, the perception node determines the position information matched with the preset position in the position information of the plurality of third objects indicated by the plurality of third echo signals as the first position information. For example, the perception node determines the moving trajectory matched with the preset trajectory in the moving trajectories of the plurality of objects, and selects the position information matched with the preset position from the moving trajectory as the first position information.

[0075] Based on the above S301 and S303, the first object moves in the preset trajectory and reflects the echo signal in the moving process, so that the perception node can analyze the moving trajectory of the first object based on the echo signal, and then select the first position information from the moving trajectory.

[0076] In some embodiments, in combination with FIG. 3, as shown in FIG. 6, the process of determining the position information of the plurality of third objects in the preset area indicated by each of the plurality of third echo signals by the perception node in the above S302 can be implemented by the following S601 to S603.

[0077] In S601, the perception node determines the Doppler parameter of the plurality of fourth objects in the preset area indicated by each of the plurality of third echo signals.

[0078] In some embodiments, the perception node transmits the perception signal with a period T, and transmits N perception signals after N x T time. Correspondingly, the perception node receives N third echo signals reflected by the plurality of third objects in the preset area. After that, the perception node processes the N third echo signals based on a Doppler data generation method (e.g., a Two-Dimensional Discrete Fourier Transform (2D FFT) algorithm) to determine time-delay-Doppler data. Here, the time-delay-Doppler data includes time delay and Doppler parameters, the time delay is used to determine the distance between the fourth object and the perception node, for example, by multiplying the time delay by the speed of light to obtain the distance between the fourth object and the perception node. The Doppler parameter is used to represent the moving speed of the fourth object. In addition, the time-delay-Doppler data can also include amplitude, and the amplitude size is used to represent the echo signal strength of the fourth object at the corresponding position point. Based on this, the perception node can determine the time-delay-Doppler parameters of each fourth object.

[0079] In S602, the perception node determines the plurality of third objects as the plurality of fourth objects with Doppler parameters greater than a second preset threshold.

[0080] In some embodiments, after determining the Doppler parameters of the fourth objects based on S601, the points with Doppler parameters greater than the second preset threshold can be extracted to filter out objects with moving speeds less than the moving speed of the first object, thereby eliminating more interference objects. For example, the second preset threshold is 0, that is, the perception node extracts points with Doppler parameters greater than 0, so that the perception data of stationary objects in the preset area can be eliminated, and the measurement interference on the first object is reduced. For another example, the second preset threshold can be determined based on the moving speed of the first object, so that the perception data of objects in the preset area with moving speeds less than the moving speed of the first object can be eliminated, and the measurement interference on the first object is further reduced.

[0081] In S603, the perception node determines the position information of the third object indicated by each third echo signal.

[0082] In some embodiments, the perception node solves the position of each third echo signal to obtain one or more positions (e.g., distance and angle) of each third object. For example, the perception node can determine the distance between the perception node and each third object based on the time delay corresponding to each third object of the third echo signal (e.g., multiplying each time delay by the speed of light as the distance between the perception node and each third object); and calculates each third object in the third echo signal based on an angle estimation algorithm to determine the angle (such as the pitch angle and / or azimuth angle) between the perception node and each third object.

[0083] Based on this, the perception node first performs Doppler filtering on the fourth object in the third echo signal before determining the position information of the third object, filters out the relevant perception content of the stationary object or the object with a moving speed less than that of the first object in the third echo signal, so that the number of interfering objects in the third echo signal can be greatly reduced, and the accuracy of determining the position information of the first object is improved.

[0084] In some embodiments, as shown in FIG. 6, the process of determining the first position information of the first object based on the position information of the plurality of third objects indicated by the plurality of third echo signals in S303 can be implemented by S604 to S606 in combination with FIG. 3.

[0085] In S604, the perception node determines the first moving trajectory of the plurality of third objects based on the position information of the plurality of third objects indicated by the plurality of third echo signals.

[0086] In some embodiments, the plurality of third echo signals are echo signals of a plurality of perception signals periodically transmitted by the perception node. Each echo signal can indicate the position of the plurality of third objects at a corresponding time. In this way, based on the order of the reflection time of the plurality of third echo signals in the time dimension, the change of the position of each third object over time can be determined, and the perception node determines the moving trajectory of each third object based on the change of the position of each third object over time.

[0087] As an example, the perception node transmits a perception signal with a period T, and transmits a total of N perception signals after N×T time. Correspondingly, the perception node receives N third echo signals reflected by the plurality of third objects in the preset area. The perception node takes N×T time as a time point, and takes the N third echo signals in the N×T time as data of the time point. The perception node determines the data of the continuous N×T, 2N×T, 3N×T, …, MN×T time points, and determines the third object delay-Doppler data of the M time points and the corresponding position information of the third objects based on the content described in the above method embodiments, to obtain a Doppler plot.

[0088] For the delay-Doppler data of each time point, the perception node extracts the delay-Doppler data with an amplitude greater than a preset amplitude threshold to obtain a data set: S(a1(k1), a2(k2), …, ak(kk)), where a M (k M )) is a set of delay-Doppler data with an amplitude greater than a preset amplitude threshold at M time points, and the number of delay-Doppler data in the set is k M (k M ). MBased on the data set, a time-angle trajectory gray scale image and / or a time-distance trajectory gray scale image is constructed, and the intensity of a point in the gray scale image is represented by the amplitude. The gray scale image is shown in FIG. 7.

[0089] In S605, the perception node determines a second moving track of the plurality of third objects whose first moving track has a preset track similarity greater than a first preset threshold.

[0090] For example, the similarity between the track determined based on the positions indicated by the plurality of second echo signals and the preset track is greater than the first preset threshold.

[0091] In some embodiments, the perception node determines the similarity between the first moving track of each object in the plurality of third objects and the preset track, and determines the second moving track whose similarity is greater than the first preset threshold as the moving track of the first object. In this way, the perception node can select the first position information matching the preset position from the second moving track.

[0092] In S606, the perception node determines the first position information from the second moving track.

[0093] For example, the first position information has a position relationship with the second moving track, which satisfies a preset position relationship in the preset track.

[0094] As an example, in the case where the preset track is a straight line with the preset position as the starting point, the perception node determines the position information of the starting point of the second moving track as the first position information. As another example, in the case where the preset track is a straight line with the preset position as the end point, the perception node determines the position information of the end point of the second moving track as the first position information. As another example, in the case where the preset track is a polyline with the preset position as the inflection point, the perception node determines the position information of the inflection point of the second moving track as the first position information. As another example, in the case where the preset track is a cross track with the preset position as the intersection point, the perception node determines the position information of the intersection point of the two cross tracks of the second moving track as the first position information.

[0095] Hereinafter, as shown in FIG. 8, the perception process of the embodiment of the present disclosure is exemplarily described in combination with a scene. In this scene, the perception node is an A-transmitting and A-receiving perception base station arranged on a roof or a tower, the perception base station is downwardly inclined by 15 degrees to cover the ground, and the coverage range includes an angle reflector which needs to be monitored for deformation. The perception process includes S801 to S807.

[0096] In S801, the perception node is initialized, and sends a perception signal according to a perception resource.

[0097] As an example, the sensing node is a sensing base station which transmits and receives, the frequency point is 4.9G, the number of channels is 128, the transmitted sensing signal is a ZC sequence modulated signal, the bandwidth is 100M, the transmission period is 5ms, the second object (i.e. the target to be measured) is a corner reflector, and the first object (i.e. the auxiliary target) is also a corner reflector.

[0098] In S802, the first object moves along the first preset trajectory, the second preset trajectory, and the third preset trajectory, and in the moving process, the first object reflects the sensing signal transmitted by the sensing node.

[0099] For example, the sensing node is arranged on a roof or a tower, and the projection of the sensing node on the ground is shown in FIG. 9.

[0100] As an example, a schematic diagram of the first object moving along the first preset trajectory is shown in FIG. 9. For example, the sensing node is arranged on a roof or a tower, and the projection of the sensing node on the ground is shown by the dashed circle in FIG. 9. The first preset trajectory is a straight line with the position of the target to be measured (i.e. the preset position) as the terminal point, and the extension line of the first preset trajectory passes through the projection of the sensing node on the ground. A worker holds the first object to move along the first preset trajectory at a speed not more than 1m / s. When the first object moves along the first preset trajectory, the azimuth angle Haoa is the same at all positions, the elevation angle Vaoa monotonously increases, and the distance d monotonously decreases.

[0101] As another example, a schematic diagram of the first object moving along the second preset trajectory is shown in FIG. 10. For example, the sensing node is arranged on a roof or a tower, and the projection of the sensing node on the ground is shown by the dashed circle in FIG. 10. The second preset trajectory is a broken line with the position of the target to be measured (i.e. the preset position) as the inflection point. A worker holds the first object to move along the second preset trajectory at a speed not more than 1.5m / s. When the first object moves along the second preset trajectory, the distance d relative to the sensing node first decreases and then increases, and the distance d is the smallest at the position of the target to be measured. The azimuth angle Haoa monotonously increases along the second preset trajectory, and the elevation angle Vaoa first increases and then decreases.

[0102] As still another example, a schematic diagram of the first object moving along the third preset trajectory is shown in FIG. 11. For example, the sensing node is arranged on a roof or a tower, and the projection of the sensing node on the ground is shown by the dashed circle in FIG. 11. The third preset trajectory is a cross line (two cross lines are cross line a and cross line b respectively) with the position of the target to be measured (i.e. the preset position) as the intersection point. Two workers respectively hold the same first object to move along the third preset trajectory at a speed not more than 1.5m / s, reach the intersection point at the same time, and continue to move.

[0103] It should be noted that in S802, only the first object moving along the first preset track, the second preset track and the third preset track is taken as an example for description, and in actual implementation, the first object can move along any number of any different preset tracks, and the present disclosure does not limit this.

[0104] In S803, the perception node receives a plurality of third echo signals of the first object, and determines Doppler data in the plurality of third echo signals.

[0105] For example, the implementation process of S803 can refer to S601 and S602 described above, and the present disclosure does not repeat the description.

[0106] In some embodiments, the perception signal sending period is 5ms, and the perception node processes the generation of delay-Doppler data in a group of data every 100 packets.

[0107] As an example, the Doppler data in the plurality of third echo signals is shown in FIG. 12. In the figure, the X-axis is the Doppler parameter, the frequency offset range is -100Hz-100Hz, the resolution is 200 / 100=2Hz, the Y-axis is the time delay (distance), the resolution is 2.44m, and the Z-axis is the amplitude, and the peak value size represents the echo signal strength.

[0108] In S804, the perception node filters the Doppler data to determine the position information of the position point of each object.

[0109] For example, the implementation process of S804 can refer to S603 described above, and the present disclosure does not repeat the description.

[0110] In S805, the perception node determines the track grayscale map according to the position information of the position point of each object at a plurality of time points.

[0111] For example, the implementation process of S805 can refer to S604 described above, and the present disclosure does not repeat the description.

[0112] As an example, the time-distance track grayscale map of the first preset track is shown in FIG. 13.

[0113] The time-distance track grayscale map of the second preset track is shown in FIG. 14. In FIG. 14, the distance monotonically decreases within 0-58s, monotonically increases within 58-108s, and the auxiliary target passes through the preset position at 58s.

[0114] In S806, the perception node determines the first position information of the preset position according to the preset route and the track grayscale map.

[0115] For example, the implementation process of S806 can refer to S605 and S606 described above, and the present disclosure does not repeat the description.

[0116] In some embodiments, as shown in FIG. 13, only the trajectory curve of the first preset trajectory is shown in FIG. 13, the distance of which monotonically decreases, according to the characteristics of the first preset trajectory, the parameter value of the end point of the trajectory gray image is the first position information of the preset position. In addition, on the first preset trajectory, the azimuth Haoa of the second object is constant, the azimuth values of all points on the trajectory gray image are extracted and averaged to obtain the final estimation of the to-be-measured target Haoa.

[0117] In yet some embodiments, as shown in FIG. 14, there are multiple object movement trajectories in FIG. 14, and the polyline 1 in the multiple object movement trajectories has a higher similarity with the second preset trajectory, so the polyline 1 is the movement trajectory of the first object, the distance of which first decreases and then increases, and the inflection point position of the polyline 1 is the first position information of the preset position.

[0118] In S807, the perception node extracts the perception parameter of the second object from the second echo signal reflected by the second object according to the first position information.

[0119] For example, the implementation process of S807 can refer to S202 and S203 described above, and the disclosure will not be repeated here.

[0120] It should be noted that in the embodiments of the disclosure, the sending of the perception signal, the receiving of the echo signal, and the perception method of the embodiments of the disclosure can perform all the above processes by the same perception node, or perform one or more of the above processes by different perception nodes, which is not limited in the disclosure. For example, in the A-to-A receiving scenario, the perception node that sends the perception signal and the perception node that receives the echo signal can be the same perception node; the perception node that performs the perception method can be the same perception node or different perception nodes. Or, in the A-to-B receiving scenario, the perception node that sends the perception signal and the perception node that receives the echo signal are different perception nodes. The perception node that performs the perception method can be the perception node that sends the perception signal, the perception node that receives the echo signal, or other perception nodes, which is not limited in the disclosure. In the embodiments of the disclosure, the perception node can be a related device with perception function, such as a perception base station, a communication device with perception function, etc., which is not limited in the disclosure.

[0121] The above various scenarios and various manners can be combined, which is not limited in the embodiments of the disclosure.

[0122] It can be understood that, in order to achieve the above functions, the perception device comprises a hardware structure and / or a software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments of the present disclosure, the embodiments of the present disclosure can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of the present disclosure.

[0123] The embodiments of the present disclosure can divide the functional modules of the perception device according to the above-mentioned method embodiments. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one functional module. The above-mentioned integrated module can be realized in the form of hardware or software. It should be noted that the division of the modules in the embodiments of the present disclosure is illustrative, and is only a logical functional division. When actually implemented, there can be another division method. The following will be described taking the example of dividing each functional module according to each function.

[0124] FIG. 15 is a block diagram of a perception device according to some embodiments, which can execute the encoding method provided by the above-mentioned method embodiments. As shown in FIG. 15, the perception device comprises a processing unit 1501 and a communication unit 1502.

[0125] The processing unit 1501 is configured to determine first position information based on a first echo signal reflected by a first object at a preset position; the preset position is a position where a second object is located, and the first position information is used to indicate a position of the first object.

[0126] The communication unit 1502 is configured to obtain a second echo signal reflected by the second object at the preset position.

[0127] The processing unit 1501 is further configured to determine perception data of the second object from the second echo signal based on the first position information.

[0128] In some implementations, the communication unit 1502 is further configured to obtain a plurality of third echo signals reflected by the first object when moving along a preset trajectory; the preset position is located in the preset trajectory; the processing unit 1501 is further configured to determine position information of a plurality of third objects in a preset region indicated by each third echo signal in the plurality of third echo signals; the preset trajectory is located in the preset region; the plurality of third objects include the first object; and the processing unit 1501 is further configured to determine the first position information of the first object based on the position information of the plurality of third objects indicated by the plurality of third echo signals.

[0129] In some embodiments, the processing unit 1501 is further configured to determine, based on the position information of the third object indicated by each of the plurality of third echo signals, a first moving trajectory of the plurality of third objects; determine a second moving trajectory of the plurality of third objects, the first moving trajectory of the plurality of third objects being similar to the second moving trajectory and a similarity degree being greater than a first preset threshold; and determine the first position information from the second moving trajectory, wherein a positional relationship between the first position information and the second moving trajectory satisfies a preset positional relationship in the preset trajectory.

[0130] In some embodiments, the processing unit 1501 is further configured to determine Doppler parameters of a plurality of fourth objects in the preset area indicated by each of the plurality of third echo signals; determine, from the plurality of fourth objects, a plurality of fourth objects with Doppler parameters greater than a second preset threshold as the plurality of third objects; and determine the position information of the third object indicated by each of the plurality of third echo signals.

[0131] In some embodiments, the preset trajectory includes at least one of the following: a straight line with the preset position as a starting point; a straight line with the preset position as an ending point; a polyline with the preset position as an inflection point; and a cross line with the preset position as a crossing point.

[0132] In some embodiments, a moving speed of the first object along the preset trajectory is less than a preset speed, and a Doppler shift generated by the preset speed is less than a preset Doppler shift threshold.

[0133] In some embodiments, the first position information includes a distance and an angle between the preset position and the perception node.

[0134] In some embodiments, the second echo signal is an echo signal obtained by reflecting the perception signal by a plurality of fifth objects in the preset area, and the plurality of fifth objects includes the second object. Here, the plurality of fifth objects can include the second object and an interference object of the second object in the preset area.

[0135] In some embodiments, the processing unit 1501 is further configured to perform channel estimation based on the perception signal sent by the perception node and the second echo signal, to determine perception data of the preset area; and perform spatial domain filtering on the perception data based on the first position information, to obtain perception data of the second object.

[0136] In the case of implementing the functions of the above-mentioned integrated modules in the form of hardware, the present embodiment provides another possible structure of the perception device involved in the above-mentioned embodiments. As shown in FIG. 16, the perception device 160 includes a processor 1602 and a bus 1604. In some embodiments, the perception device can further include a memory 1601; and in some embodiments, the perception device can further include a communication interface 1603.

[0137] The processor 1602 can be a central processing unit, an application-specific processor, a digital signal processor (DSP), an application-specific integrated circuit, a field programmable gate array (FPGA), another programmable logic device, a transistor logic device, a hardware component, or any combination thereof, which can implement or execute various example logical blocks, modules, and circuits described in connection with the embodiments of the present disclosure. The processor 1602 can be a combination of computing components, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, or the like.

[0138] The communication interface 1603 is configured to connect with other devices through a communication network. The communication network can be an Ethernet, a radio access network, a wireless local area network (WLAN), or the like.

[0139] The memory 1601 can be a read-only memory (ROM), another type of static storage device that can store static information and instructions, a random access memory (RAM), or another type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium, or another magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0140] In some implementations, the memory 1601 can exist independently of the processor 1602, and the memory 1601 can be connected to the processor 1602 through the bus 1604, for storing instructions or program codes. When the processor 1602 invokes and executes the instructions or program codes stored in the memory 1601, the encoding method or the decoding method provided by the embodiments of the present disclosure can be implemented.

[0141] In some implementations, the memory 1601 can be integrated with the processor 1602.

[0142] The bus 1604 can be an extended industry standard architecture (EISA) bus, a proprietary bus, or the like. The bus 1604 can be divided into an address bus, a data bus, a control bus, or the like. For ease of representation, only one thick line is used in FIG. 16, but this does not mean that there is only one bus or only one type of bus.

[0143] Some embodiments of the present disclosure provide a computer readable storage medium (for example, a non-transitory computer readable storage medium) having stored computer program instructions, which, when executed on a computer, cause the computer to perform the encoding method or the decoding method described in any of the above embodiments.

[0144] Exemplarily, the above computer readable storage medium can include, but is not limited to, a magnetic storage device (for example, a hard disk, a floppy disk, a magnetic tape, or the like), an optical disc (for example, a compact disc (CD), a digital versatile disc (DVD), or the like), a smart card, and a flash memory device (for example, an erasable programmable read-only memory (EPROM), a card, a stick, or a key drive, or the like). The various computer readable storage media described in the embodiments of the present disclosure can represent one or more devices and / or other machine readable storage media for storing information. The term "machine readable storage medium" can include, but is not limited to, a wireless channel and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0145] The embodiments of the present disclosure also provide a computer program product containing instructions, which, when executed on a computer, cause the computer to perform the encoding method or the decoding method described in any of the above embodiments.

[0146] The above description is only a specific implementation of the embodiments of the present disclosure, but the protection scope of the embodiments of the present disclosure is not limited thereto. Any change or replacement within the technical scope disclosed by the embodiments of the present disclosure should be covered within the protection scope of the embodiments of the present disclosure. Therefore, the protection scope of the embodiments of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A perception method, comprising: determining first position information based on a first echo signal reflected by a first object at a preset position; the preset position being a position where a second object is located, and the first position information being used to indicate a position of the first object; obtaining a second echo signal reflected by the second object at the preset position; determining perception data of the second object from the second echo signal based on the first position information.

2. The method of claim 1, wherein, The determining of the first position information based on the first echo signal reflected by the first object at the preset position comprises: obtaining a plurality of third echo signals reflected by the first object when moving along a preset track; the preset position being located in the preset track; determining position information of a plurality of third objects in a preset area indicated by each of the plurality of third echo signals; the preset track being located in the preset area; the plurality of third objects including the first object; determining the first position information of the first object based on the position information of the plurality of third objects indicated by the plurality of third echo signals.

3. The method of claim 2, wherein, The determining of the first position information of the first object based on the position information of the plurality of third objects indicated by the plurality of third echo signals comprises: determining a first moving track of the plurality of third objects based on the position information of the plurality of third objects indicated by the plurality of third echo signals; determining a second moving track of the plurality of third objects, the similarity of the first moving track of the plurality of third objects and the second moving track being greater than a first preset threshold; determining the first position information from the second moving track; wherein the positional relationship between the first position information and the second moving track satisfies the positional relationship of the preset position in the preset track.

4. The method of claim 2, wherein, The determining of the position information of the plurality of third objects in the preset area indicated by each of the plurality of third echo signals comprises: determining Doppler parameters of a plurality of fourth objects in the preset area indicated by each of the plurality of third echo signals; determining a plurality of fourth objects from the plurality of fourth objects, the Doppler parameters of the plurality of fourth objects being greater than a second preset threshold; and determining the position information of the third object indicated by each of the plurality of third echo signals.

5. The method of claim 2, wherein, The preset track comprises at least one of: a straight line with the preset position as a starting point; a straight line with the preset position as an ending point; a broken line with the preset position as an inflection point; and a cross line with the preset position as a crossing point.

6. The method of claim 2, wherein, The moving speed of the first object along the preset track is less than a preset speed; and a Doppler shift amount generated by the preset speed is less than a preset Doppler shift threshold.

7. The method of claim 1, wherein: the first position information comprises a distance and an angle between the preset position and a perception node.

8. The method of claim 1, wherein, The second echo signal is an echo signal obtained by reflecting a perception signal by a plurality of fifth objects in a preset area, the plurality of fifth objects including the second object.

9. The method of claim 8, wherein, The determining of the perception data of the second object from the second echo signal based on the first position information comprises: perform channel estimation based on the sensing signal sent by the sensing node and the second echo signal to determine sensing data of the preset area; perform spatial domain filtering on the sensing data based on the first position information to obtain sensing data of the second object.

10. A perception device comprising: a memory and a processor; the memory and the processor are coupled; the memory is configured to store instructions executable by the processor; the processor executes the instructions to perform the method according to any one of claims 1 to 9.

11. A computer readable storage medium, wherein, The computer readable storage medium stores computer instructions, and when the computer instructions run on the computer, the computer executes the method according to any one of claims 1 to 9.

12. A computer program product comprising computing technology program instructions, which, when executed by a processor, implement the method according to any one of claims 1 to 9.

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