Sensing method and apparatus, device, and storage medium

Abstract

A sensing method and apparatus, a device, and a storage medium, relating to the technical field of communications. The method comprises: a first node acquires a first sensing result on the basis of a first sensing signal, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, and the at least two sensing signal groups comprising at least two sensing signal groups having corresponding signal intervals which are co-prime; the first sensing result is acquired on the basis of at least two spectrograms, each spectrogram being determined on the basis of one sensing signal group (510). A technical solution provided by the present application provides a corresponding receiving algorithm for at least two sensing signal groups having co-prime signal intervals. By using the present means to receive sensing signals and calculate a corresponding sensing result, complexity can be decreased and engineering implementation is facilitated, while ensuring the accuracy of calculating a sensing result.

Description

Sensing methods, devices, equipment and storage media Technical Field

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

[0002] The integration of communication and sensing refers to the fusion of communication and sensing functions, enabling future communication systems to simultaneously possess both communication and sensing capabilities.

[0003] In conventional reference signal design, the reference signal maintains a uniform spacing in both the frequency and time domains. However, for sensing, sensing performance is affected by the parameters of the sensing signal. For example, a smaller frequency spacing results in a larger unambiguous range for distance, and a shorter transmission period results in a larger unambiguous range for velocity. To meet sensing performance requirements, such as a larger unambiguous range for distance and velocity, the sensing signal needs to have a higher density, leading to significant resource overhead.

[0004] Summary of the Invention

[0005] This application provides a sensing method, apparatus, device, and storage medium. The technical solutions provided by this application are as follows.

[0006] According to one aspect of the embodiments of this application, a sensing method is provided, the method being executed by a first node, the method comprising:

[0007] A first sensing result is obtained based on a first sensing signal, wherein the first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals, and the signal intervals corresponding to the sensing signal groups are the intervals between two adjacent sensing signals included in the sensing signal groups; wherein the first sensing result is obtained based on at least two spectra, and each spectra is determined based on a sensing signal group.

[0008] According to one aspect of the embodiments of this application, a sensing method is provided, the method being executed by a second node, the method comprising:

[0009] Sending and / or configuring a first sensing signal, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, wherein at least two of the at least two sensing signal groups have coprime signal intervals, and the signal intervals corresponding to the sensing signal groups are the intervals between two adjacent sensing signals included in the sensing signal groups; wherein the first sensing signal is used to acquire a first sensing result, the first sensing result being acquired based on at least two spectra, each spectra being determined based on a sensing signal group.

[0010] According to one aspect of the embodiments of this application, a sensing device is provided, the device comprising:

[0011] The processing module is used to acquire a first sensing result based on a first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group. The first sensing result is acquired based on at least two spectra, and each spectra is determined based on a sensing signal group.

[0012] According to one aspect of the embodiments of this application, a sensing device is provided, the device comprising: a transmitting module and / or a processing module;

[0013] The transmitting module is used to transmit a first sensing signal, and the processing module is used to configure the first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group. The first sensing signal is used to acquire a first sensing result, which is acquired based on at least two spectra, each spectra being determined based on a sensing signal group.

[0014] According to one aspect of the embodiments of this application, a communication device is provided, the communication device including a processor and a memory, the memory storing a computer program, the processor executing the computer program to implement the method executed by the first node or the second node described above.

[0015] According to one aspect of the embodiments of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for execution by a processor to implement the method of executing the first node or the second node described above.

[0016] According to one aspect of the embodiments of this application, a chip is provided, the chip including programmable logic circuits and / or program instructions, which, when the chip is running, are used to implement the method executed by the first node or the second node described above.

[0017] According to one aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium, wherein a processor reads from the computer-readable storage medium and executes the computer instructions to implement the method of executing the first node or the second node described above.

[0018] The technical solution provided in this application can bring the following beneficial effects: On the one hand, by jointly receiving sensing signal groups with coprime signal intervals, the maximum unambiguous range obtained by continuous arrangement of sensing signals can be achieved, thereby saving channel overhead while satisfying sensing performance. On the other hand, for at least two sensing signal groups with coprime signal intervals, a corresponding spectrum can be determined according to each sensing signal group. Then, based on the spectrum corresponding to the at least two sensing signal groups with coprime signal intervals, the sensing result is obtained. Receiving the above sensing signals and calculating the corresponding sensing results in this way can reduce complexity and facilitate engineering implementation while ensuring the accuracy of sensing result calculation. Attached Figure Description

[0019] Figure 1 is a schematic diagram of a network architecture provided in one embodiment of this application;

[0020] Figure 2 is a schematic diagram of eight sensing modes provided in one embodiment of this application;

[0021] Figure 3 is a schematic diagram of a sensing system including multiple sensing nodes provided in an embodiment of this application;

[0022] Figure 4 is a schematic diagram of a 5G NR CSI-RS pattern provided in an embodiment of this application;

[0023] Figure 5 is a flowchart of a sensing method provided in an embodiment of this application;

[0024] Figure 6 is a schematic diagram of the signal time-domain interval provided in an embodiment of this application;

[0025] Figure 7 is a schematic diagram of the signal frequency domain spacing provided in an embodiment of this application;

[0026] Figure 8 is a schematic diagram of two sensing signal groups with coprime signal time-domain intervals provided in an embodiment of this application;

[0027] Figure 9 is a schematic diagram of two sensing signal groups with coprime signal frequency domain spacing provided in an embodiment of this application;

[0028] Figure 10 is a schematic diagram of two sensing signal groups whose signal time-domain interval and frequency-domain interval are coprime, provided in an embodiment of this application;

[0029] Figure 11 is a schematic diagram of the sequential arrangement of two sensing signal groups with coprime time-domain intervals provided in an embodiment of this application;

[0030] Figure 12 is a schematic diagram of the sequential arrangement of two sensing signal groups with coprime frequency domain spacing provided in an embodiment of this application;

[0031] Figure 13 is a schematic diagram of two sensing signal groups with coprime time-domain intervals arranged in an overlapping manner according to an embodiment of this application;

[0032] Figure 14 is a schematic diagram of two sensing signal groups with coprime frequency domain spacing arranged in an overlapping manner according to an embodiment of this application;

[0033] Figure 15 is a schematic diagram of the nested arrangement of two sensing signal groups with coprime time-domain intervals provided in an embodiment of this application;

[0034] Figure 16 is a schematic diagram of the nested arrangement of two sensing signal groups with coprime frequency domain spacing provided in an embodiment of this application;

[0035] Figure 17 is a schematic diagram of a plurality of second sensing signal groups uniformly nested within a plurality of signal time-domain intervals of a first sensing signal group according to an embodiment of the present application;

[0036] Figure 18 is a schematic diagram of two sequentially arranged sensing signal groups periodically arranged in the time domain according to an embodiment of this application;

[0037] Figure 19 is a schematic diagram of two sensing signal groups with coprime signal time-domain spacing provided in an embodiment of this application, which are arranged at equal intervals in the frequency domain.

[0038] Figure 20 is a schematic diagram of two sensing signal groups with coprime frequency spacing provided in the first sensing signal according to an embodiment of this application, which are arranged at equal intervals in the time domain.

[0039] Figure 21 is a schematic diagram of the arrangement of multiple sensing signal groups in the time and frequency domains according to an embodiment of this application;

[0040] Figure 22 is a schematic diagram of the spectrum obtained by the one-dimensional Fourier transform in the time domain according to an embodiment of this application;

[0041] Figure 23 is a schematic diagram of the spectrum obtained by one-dimensional Fourier transform in the frequency domain according to an embodiment of this application;

[0042] Figure 24 is a schematic diagram of a spectrum obtained by two-dimensional Fourier transform according to an embodiment of this application;

[0043] Figure 25 is a schematic diagram of two sets of Doppler spectra of sensing signals with different intervals provided in an embodiment of this application;

[0044] Figure 26 is a block diagram of a sensing device provided in an embodiment of this application;

[0045] Figure 27 is a block diagram of a sensing device provided in another embodiment of this application;

[0046] Figure 28 is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0048] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0049] Please refer to Figure 1, which shows a schematic diagram of a network architecture 100 provided in one embodiment of this application. The network architecture 100 may include: a terminal device 10, an access network device 20, and a core network element 30.

[0050] Terminal device 10 can refer to UE (User Equipment), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, wireless communication device, user agent, or user equipment. Optionally, terminal device 10 can also be a cellular phone, cordless phone, SIP (Session Initiation Protocol) phone, WLL (Wireless Local Loop) station, PDA (Personal Digital Assistant), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, vehicle-mounted device, wearable device, terminal device in 5GS (5th Generation System), or terminal device in the future evolved PLMN (Public Land Mobile Network), etc., and this application embodiment is not limited in this respect. For ease of description, the devices mentioned above are collectively referred to as terminal devices. The number of terminal devices 10 is usually multiple, and one or more terminal devices 10 can be distributed within the cell managed by each access network device 20. Terminal equipment can also be simply referred to as terminal or UE, the meaning of which can be understood by those skilled in the art.

[0051] Access network device 20 is a device deployed in an access network to provide wireless communication functionality to terminal device 10. Access network device 20 can include various forms of macro base stations, micro base stations, relay stations, access points, etc. In systems employing different wireless access technologies, the name of the device with access network device functionality may differ; for example, in a 5G NR system, it is called gNodeB or gNB. As communication technologies evolve, the name "access network device" may change. For ease of description, in this embodiment, the aforementioned devices providing wireless communication functionality to terminal device 10 are collectively referred to as access network devices. Optionally, a communication relationship can be established between terminal device 10 and core network element 30 through access network device 20. For example, in an LTE (Long Term Evolution) system, access network device 20 can be one or more eNodeBs in an EUTRAN (Evolved Universal Terrestrial Radio Access Network) or EUTRAN; in a 5G NR system, access network device 20 can be one or more gNBs in a RAN (Radio Access Network). In the embodiments of this application, unless otherwise specified, the term "network device" refers to access network device 20, such as a base station.

[0052] Core network element 30 is a network element deployed in the core network. Its main functions are to provide user connectivity, manage users, and bear services, serving as an interface to external networks. For example, core network elements in a 5G NR system may include AMF (Access and Mobility Management Function) entities, UPF (User Plane Function) entities, and SMF (Session Management Function) entities.

[0053] In some embodiments, the access network device 20 and the core network element 30 communicate with each other via some air interface technology, such as the NG interface in a 5G NR system. The access network device 20 and the terminal device 10 communicate with each other via some air interface technology, such as the Uu interface.

[0054] The "5G NR system" in this application embodiment can also be referred to as a 5G system or an NR system, but those skilled in the art will understand its meaning. The technical solutions described in this application embodiment can be applied to LTE systems, 5G NR systems, and subsequent evolution systems of 5G NR systems (such as 6G systems (6th Generation System)). They can also be applied to other communication systems such as NB-IoT (Narrow Band Internet of Things) systems, and this application does not limit them in this regard.

[0055] In this embodiment, the network device can provide services to a cell. The terminal device communicates with the network device through the transmission resources (e.g., frequency domain resources, or spectrum resources) on the carrier used by the cell. The cell can be the cell corresponding to the network device (e.g., a base station). The cell can belong to a macro base station or to a base station corresponding to a small cell. The small cell can include: metro cell, micro cell, pico cell, femto cell, etc. These small cells have the characteristics of small coverage area and low transmission power, and are suitable for providing high-speed data transmission services.

[0056] Integrated communication and sensing refers to the fusion of communication and sensing functions, enabling future communication systems to simultaneously possess both communication and sensing capabilities. While transmitting information over a wireless channel, the system actively recognizes and analyzes the channel's characteristics to perceive the physical features of the surrounding environment, thus enhancing both communication and sensing functions. For example, by using base station signals to sense information about the surrounding environment and designing communication links, obstacles can be avoided, improving communication performance.

[0057] Next-generation networks (such as 6G networks) are expected to be a fusion of mobile communication networks, sensing networks, and computing networks. In a narrow sense, a sensing network refers to a system with capabilities such as target localization (range measurement, velocity measurement, angle measurement), target imaging, target detection, target tracking, and target recognition. In a broad sense, a sensing network refers to a system that possesses the attributes and states of all services, networks, users, terminals, and environmental objects. From the perspective of sensing applications, sensing can be categorized as follows:

[0058] Outdoor, wide-area, or local applications include smart cities (e.g., weather monitoring), smart transportation / high-speed rail (e.g., high-precision map building, road monitoring, intrusion detection), and low-altitude applications (e.g., drone monitoring and obstacle avoidance, flight intrusion detection, flight path management).

[0059] Indoor or local area applications include smart home and health management (e.g., respiratory monitoring, intrusion detection, gesture / posture recognition, motion monitoring, movement tracking, etc.) and smart factories (e.g., intrusion detection, material detection, defect detection, etc.).

[0060] The above are just examples to provide some classifications of sensing applications; the application areas of sensing are not limited to the examples above.

[0061] Wireless communication and sensing are two major applications of modern radio frequency (RF) technology. Sensing utilizes radio waves to detect parameters of the physical environment to achieve environmental perception such as target localization, action recognition, and imaging. Traditionally, sensing and wireless communication exist independently, and this separate design leads to a waste of wireless spectrum and hardware resources. With the advent of B5G (Beyond 5G) and 6G, communication spectrum is moving towards millimeter waves, terahertz, and visible light communication. In the future, the spectrum of wireless communication will overlap with the spectrum of traditional sensing. Integrated communication and sensing technology merges these two functions. It can utilize the wireless resources of wireless communication to achieve sensing capabilities; it can leverage widely deployed cellular networks to achieve sensing services over larger areas; it can utilize base stations and multiple terminals for joint sensing to achieve higher sensing accuracy; and it can reuse wireless communication hardware modules to achieve sensing functions, reducing costs. In short, integrated communication and sensing technology enables future wireless communication systems to possess sensing capabilities, providing a foundation for the development of future smart transportation, smart cities, smart factories, drones, and other related businesses.

[0062] The "perception" mentioned in the embodiments of this application refers to the process of directly or indirectly obtaining perception information of a target or environment based on at least one perception signal such as sound waves, electromagnetic waves, and light waves (including but not limited to lasers). For example, by sending and receiving perception signals and measuring or otherwise processing the perception signals, perception information of the target or environment can be obtained, such as realizing services like positioning, ranging, speed measurement, angle measurement, target imaging, target detection, target tracking, and target recognition.

[0063] In addition, the term "perception" mentioned in the embodiments of this application can be replaced by any other word that can express the meaning of perception, such as positioning, ranging, speed measurement, angle measurement, pattern recognition, motion characteristics, target imaging, target detection, target tracking, and target recognition.

[0064] The nodes involved in sensing are as follows:

[0065] Sensing transmitting node: The node that transmits sensing signals.

[0066] Sensing receiving node: The node that receives the sensing signal.

[0067] Sensing Nodes: Sensing sending nodes and sensing receiving nodes are collectively referred to as sensing nodes, which are the nodes that perform sensing.

[0068] Perception Management Node: A node that manages and controls perception tasks. The perception management node configures perception tasks for perception nodes, and the perception nodes report the perception results back to the perception management node after executing the perception tasks. The perception management node may also be called a perception control node or other names; this application does not limit the terminology.

[0069] Perception trigger node: The node that initiates perception, sets the configuration of the perception scene, and parses the perception feedback sent by the perception node.

[0070] Perception can be divided into 8 modes, as shown in Figure 2.

[0071] Mode 1, Base Station Self-Transmitting and Receiving Sensing: The base station transmits sensing signals and receives echo signals. In Mode 1, the sensing transmitting node and the sensing receiving node are the same base station. That is, the base station transmits sensing signals to the sensing target, and after the sensing signal is reflected by the sensing target, the same base station receives the echo signal (i.e., the sensing signal after reflection by the sensing target).

[0072] Mode 2, Terminal Self-Sensing: The terminal sends a sensing signal and receives the echo signal. In Mode 2, the sensing sending node and the sensing receiving node are the same terminal. That is, the terminal sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the same terminal receives the echo signal.

[0073] Mode 3, Base Station Cooperative Sensing: One base station (Base Station A in the diagram) transmits a sensing signal, and another base station (Base Station B in the diagram) receives the echo signal. In Mode 3, the sensing transmitting node and the sensing receiving node are different base stations. That is, one base station sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the echo signal is received by another base station.

[0074] Mode 4, Terminal Collaborative Sensing: One terminal (terminal A in the figure) sends a sensing signal, and another terminal (terminal B in the figure) receives the echo signal. In Mode 4, the sensing transmitting node and the sensing receiving node are different terminals. That is, one terminal sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the echo signal is received by another terminal.

[0075] Mode 5, Base Station-Terminal Cooperative Sensing: The base station sends a sensing signal, and the terminal receives the echo signal. In Mode 5, the sensing transmitting node is the base station, and the sensing receiving node is the terminal. That is, the base station sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the terminal receives the echo signal.

[0076] Mode 6, Terminal-Base Station Collaborative Sensing: The terminal sends a sensing signal, and the base station receives the echo signal. In Mode 6, the sensing sending node is the terminal, and the sensing receiving node is the base station. That is, the terminal sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the base station receives the echo signal.

[0077] In Mode 7, the sensing target is the sensing signal transmitting node. In Mode 7, the sensing transmitting node is the terminal, and the sensing receiving node is the base station. Since the sensing target (terminal) is the sensing transmitting node, the sensing signal, after being sent from the sensing transmitting node (terminal) to the sensing receiving node (base station), does not require reflection and can be directly analyzed by the base station after reception.

[0078] In Mode 8, the sensing target is the sensing signal receiving node. In Mode 8, the sensing transmitting node is the base station, and the sensing receiving node is the terminal. Since the sensing target (terminal) is the sensing receiving node, after receiving the sensing signal, the terminal needs to feed back the sensing result to the base station so that the base station is aware of the sensing result.

[0079] The nodes that transmit and receive sensing signals can be collectively referred to as sensing nodes. In the eight sensing modes mentioned above, only one or a pair of sensing nodes exist. However, in wireless communication systems, the number of terminal devices (such as mobile phones and IoT devices) is large. When multiple sensing nodes (i.e., base stations, mobile phones, IoT devices, etc. that transmit and / or receive sensing signals) exist around a sensed object, the joint participation of multiple sensing nodes can improve the accuracy of sensing and meet more complex sensing service requirements, providing richer sensing services. As shown in Figure 3, when multiple sensing nodes exist in the system (as shown in Figure 3, sensing node 1, sensing node 2, and sensing node 3), a sensing management node 31 may exist to control and manage the entire sensing service to improve efficiency. This sensing management node 31 can be a base station, a terminal device, or a core network element.

[0080] In conventional reference signal design, the reference signal maintains a uniform spacing in both the frequency and time domains. For example, as shown in Figure 4, the 5G NR CSI-RS (Channel State Information-Reference Signal) has uniform spacing in the frequency domain, with an interval of 4 REs (Resource Elements), and appears periodically in the time domain with a configurable period length.

[0081] However, for perception, the perception performance is affected by the parameters of the perception signal. For example, the smaller the frequency-domain interval of the perception signal, the larger the range of non-ambiguous distance, and the shorter the transmission period of the perception signal, the larger the range of non-ambiguous speed, etc. To meet the perception performance, such as a larger range of non-ambiguous distance and speed, the perception signal requires a higher density, resulting in a large amount of resource overhead. The resources occupied by the perception signal and the resources occupied by the communication signal are usually orthogonal. The excessive resource overhead occupied by the perception signal will damage the communication performance.

[0082] Taking the arrangement of OFDM (Orthogonal Frequency Division Multiplexing) pilot signals as an example, and taking the self-transmission and self-reception as an example, the maximum non-ambiguous distance and the maximum non-ambiguous speed that the perception signal can achieve under the basic configuration can be deduced.

[0083] In the perception system, the maximum non-ambiguous distance refers to the maximum distance at which the system can accurately measure the distance of the perception target. Here, "non-ambiguous" means that the perception receiving node can distinguish the echo signals from different perception targets without signal confusion or misjudgment. In addition, the maximum phase shift from one echo signal that the perception receiving node can measure to the next echo signal is 360°. The value of the radial speed of the perception target corresponding to the 360° phase shift is the maximum non-ambiguous speed.

[0084] N perception signals on a certain symbol are uniformly arranged at a frequency-domain interval of N c Δf at the center frequency of f f . If Δf is the sub-carrier interval, then the frequency-domain channel response H composed of perception signals on this symbol is:

[0085] where N f is the coefficient of Δf. For example, the value of N f can be greater than 0; r is the distance between the perception target and the perception node; c is the speed of light; a0, etc. represent different coefficients.

[0086] Performing IFFT (Inverse Fast Fourier Transform) or IDFT (Inverse Discrete Fourier Transform) on this matrix can obtain the distance r between the perception target and the perception node. However, since the Fourier transform reflects the phase change between elements, once the phase change is greater than or equal to 2π, it cannot be recognized. Therefore, the maximum non-ambiguous distance is

[0087] Similarly, frequency point f c wavelength λ c M sensing signals on subcarriers at time intervals M t The Δt elements are uniformly distributed, where Δt is a time-domain unit. This time-domain unit can be a symbol or a slot, thus obtaining the time-domain channel response H as follows:

[0088] Among them, M t The coefficient of Δt, such as M t The value of can be greater than 0; It is determined by frequency point f c The initial phase is determined by the initial distance r0. Performing an FFT (Fast Fourier Transform) on H(t) yields the velocity v of the target's motion. However, since the Fourier Transform reflects the phase changes between elements, it cannot detect phase changes greater than or equal to 2π. Therefore, the maximum unambiguous velocity can be obtained as follows:

[0089] As deduced above, under the OFDM equally spaced pilot signal arrangement, the maximum unambiguous distance and speed will decrease as the time-frequency domain placement interval of the sensing signals increases. In some scenarios, to meet the requirements of sensing services for maximum unambiguous distance and speed, the sensing signals require significant resource overhead.

[0090] Please refer to Figure 5, which shows a flowchart of a method for transmitting sensing signals according to an embodiment of this application. This method can be applied to the scenarios or architectures shown in Figures 1 to 3. The method may include the following step 510.

[0091] Step 510: The first node obtains a first sensing result based on the first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the sensing signal groups have coprime signal intervals. The first sensing result is obtained based on at least two spectra, and each spectra is determined based on a sensing signal group.

[0092] In some embodiments, the first node is a sensing receiving node, the first sensing signal is sent by the sensing sending node, and the sensing receiving node receives the first sensing signal sent by the sensing sending node.

[0093] In some embodiments, the second node sends and / or configures the first sensing signal. In some embodiments, the second node is a sensing sending node or a sensing management node. Exemplarily, the sensing sending node sends the first sensing signal. Exemplarily, the sensing sending node configures the first sensing signal and sends the first sensing signal. Exemplarily, the sensing management node configures the first sensing signal, and the sensing sending node sends the first sensing signal.

[0094] This application proposes a design scheme for coprime sensing signals. Coprime sensing signals refer to at least two sensing signal groups whose corresponding signal intervals are coprime. By jointly receiving sensing signal groups with coprime signal intervals, the maximum unambiguous range obtained by continuous arrangement of sensing signals can be achieved, thereby saving channel overhead while satisfying sensing performance. The design scheme for coprime sensing signals will be described below.

[0095] In some embodiments, the signal interval corresponding to a sensing signal group is the interval between two adjacent sensing signals included in the sensing signal group. The signal interval can be a time-domain interval or a frequency-domain interval. Specifically, the time-domain interval refers to the time-domain interval between two time-adjacent sensing signals included in the sensing signal group. The frequency-domain interval refers to the frequency-domain interval between two frequency-adjacent sensing signals included in the sensing signal group. The time-domain interval can include one or more time-domain units, which can be any of the following: symbols, time slots, subframes, or frames. The frequency-domain interval can include one or more frequency-domain units, which can be any of the following: subcarriers, subbands, RBs (Resource Blocks), or RBGs (Resource Block Groups). The above signal interval can be understood as the number of time-domain units or frequency-domain units separating two adjacent sensing signals included in the sensing signal group. The signal interval is a positive integer, such as 1, 2, 3, 4, etc.

[0096] The signal time-domain interval refers to the number of time-domain units that separate two temporally adjacent sensed signals in a sensed signal group. Optionally, the signal time-domain interval refers to the number of time-domain units that separate the start positions of two temporally adjacent sensed signals in a sensed signal group. Optionally, the signal time-domain interval refers to the number of time-domain units that separate the end positions of two temporally adjacent sensed signals in a sensed signal group.

[0097] The signal frequency domain spacing refers to the number of frequency domain units that separate two adjacent sensing signals in the frequency domain within a sensing signal group. Optionally, the signal frequency domain spacing refers to the number of frequency domain units that separate the start positions of two adjacent sensing signals in the frequency domain within a sensing signal group. Optionally, the signal frequency domain spacing refers to the number of frequency domain units that separate the end positions of two adjacent sensing signals in the frequency domain within a sensing signal group.

[0098] For example, as shown in Figure 6, each small square represents a time-domain unit. The sensing signal group includes multiple sensing signals, and the time-domain unit occupied by each sensing signal is shown by the time-domain unit filled with diagonal lines in Figure 6. As can be seen from the figure, any two time-adjacent sensing signals in this sensing signal group are separated by 3 time-domain units, that is, the time-domain interval of the signals corresponding to this sensing signal group is 3 time-domain units.

[0099] For example, as shown in Figure 7, each small square represents a frequency domain unit. The sensing signal group includes multiple sensing signals, and the frequency domain unit occupied by each sensing signal is shown by the time domain unit filled with diagonal lines in Figure 7. As can be seen from the figure, any two adjacent sensing signals in the frequency domain are separated by 4 frequency domain units, that is, the frequency domain interval of the signals corresponding to the sensing signal group is 4 frequency domain units.

[0100] In some embodiments, coprime refers to a relationship where the greatest common divisor (GCD) of two or more integers is 1. In this application embodiment, coprime means that the GCD of the signal intervals corresponding to two sensing signal groups is 1. For example, if the signal interval of sensing signal group 1 is 1 and the signal interval of sensing signal group 2 is 2, then the signal intervals of sensing signal group 1 and sensing signal group 2 are coprime. Alternatively, if the signal interval of sensing signal group 1 is 2 and the signal interval of sensing signal group 2 is 5, then the signal intervals of sensing signal group 1 and sensing signal group 2 are coprime.

[0101] In some embodiments, the coprime signal intervals of the two sensing signal groups refer to the coprime signal time-domain intervals of the two sensing signal groups. For example, as shown in FIG8, the signal time-domain interval of sensing signal group 1 shown in FIG8 sub-figure (a) is 2, and the signal time-domain interval of sensing signal group 2 shown in FIG8 sub-figure (b) is 3. Then the signal time-domain intervals of sensing signal group 1 and sensing signal group 2 are coprime.

[0102] In some embodiments, the coprime signal intervals between two sensing signal groups refer to the coprime frequency domain intervals between the two sensing signal groups. For example, as shown in FIG9, the frequency domain interval of the sensing signal group 1 shown in FIG9 sub-figure (a) is 3, and the frequency domain interval of the sensing signal group 2 shown in FIG9 sub-figure (b) is 5. Therefore, the frequency domain intervals of the sensing signal group 1 and the sensing signal group 2 are coprime.

[0103] In some embodiments, the coprime signal intervals between two sensing signal groups mean that the time-domain intervals and frequency-domain intervals of the signals corresponding to the two sensing signal groups are coprime. For example, as shown in Figure 10, sensing signal group 1 (a) is distributed in two dimensions in both the time and frequency domains, with a time-domain interval of 2 and a frequency-domain interval of 3. Sensing signal group 2 (b) is also distributed in two dimensions in both the time and frequency domains, with a time-domain interval of 3 and a frequency-domain interval of 5. Therefore, the time-domain intervals and frequency-domain intervals of the signals corresponding to sensing signal group 1 and sensing signal group 2 are coprime.

[0104] In some embodiments, among the at least two sensing signal groups included in the first sensing signal, at least two sensing signal groups have coprime signal intervals. For example, the first sensing signal includes the following three sensing signal groups, sensing signal groups 1 to 3, wherein the signal interval corresponding to sensing signal group 1 is 1, the signal interval corresponding to sensing signal group 2 is 2, and the signal interval corresponding to sensing signal group 3 is 4. In this case, the signal intervals corresponding to sensing signal group 1 and sensing signal group 2 are coprime, the signal intervals corresponding to sensing signal group 1 and sensing signal group 3 are coprime, and the signal intervals corresponding to sensing signal group 2 and sensing signal group 3 are not coprime.

[0105] In some embodiments, the signal intervals corresponding to any two of the at least two sensing signal groups included in the first sensing signal are coprime. For example, the first sensing signal includes the following three sensing signal groups, sensing signal groups 1 to 3, wherein the signal interval corresponding to sensing signal group 1 is 1, the signal interval corresponding to sensing signal group 2 is 2, and the signal interval corresponding to sensing signal group 3 is 5. Then, the signal intervals corresponding to sensing signal group 1 and sensing signal group 2 are coprime, the signal intervals corresponding to sensing signal group 1 and sensing signal group 3 are coprime, and the signal intervals corresponding to sensing signal group 2 and sensing signal group 3 are also coprime.

[0106] In some embodiments, when the sensing signal group includes at least three sensing signals, the at least three sensing signals in the sensing signal group are arranged at equal intervals. For example, when the sensing signal group includes at least three sensing signals, the at least three sensing signals in the sensing signal group are arranged at equal intervals in the time domain, and the time interval between any two time-adjacent sensing signals in the sensing signal group is the signal time-domain interval corresponding to the sensing signal group. For example, when the sensing signal group includes at least three sensing signals, the at least three sensing signals in the sensing signal group are arranged at equal intervals in the frequency domain, and the frequency interval between any two frequency-adjacent sensing signals in the sensing signal group is the signal frequency-domain interval corresponding to the sensing signal group.

[0107] The following describes the arrangement of sensing signal groups where any two signals are coprime.

[0108] Method 1: Sequential arrangement

[0109] In some embodiments, the first sensing signal includes at least two sensing signal groups, including a first sensing signal group and a second sensing signal group, wherein the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime, and the first sensing signal group and the second sensing signal group are arranged sequentially.

[0110] In some embodiments, where the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group is after the time-domain position of the latest sensing signal in the first sensing signal group. That is, the time-domain position of the second sensing signal group is after the time-domain position of the first sensing signal group.

[0111] For example, as shown in Figure 11, the first sensing signal includes a first sensing signal group and a second sensing signal group. The time-domain interval of the first sensing signal group is 3, and the time-domain interval of the second sensing signal group is 4. The time-domain intervals of the first and second sensing signal groups are coprime, and the first and second sensing signal groups are arranged sequentially in the time domain. As can be seen from Figure 11, the time-domain position of the earliest sensing signal in the second sensing signal group (i.e., sensing signal 112 shown in the figure) is after the time-domain position of the latest sensing signal in the first sensing signal group (i.e., sensing signal 111 shown in the figure).

[0112] In some embodiments, where the signal spacing includes a signal frequency domain spacing, the frequency domain position of the sensing signal with the smallest frequency in the second sensing signal group is after the frequency domain position of the sensing signal with the largest frequency in the first sensing signal group. That is, the frequency domain position of the second sensing signal group is after the frequency domain position of the first sensing signal group.

[0113] For example, as shown in Figure 12, the first sensing signal includes a first sensing signal group and a second sensing signal group. The frequency domain interval of the first sensing signal group is 2, and the frequency domain interval of the second sensing signal group is 3. The frequency domain intervals of the first and second sensing signal groups are coprime, and the first and second sensing signal groups are arranged sequentially in the frequency domain. As can be seen from Figure 12, the frequency domain position of the sensing signal with the smallest frequency in the second sensing signal group (i.e., sensing signal 122 shown in the figure) is after the frequency domain position of the sensing signal with the largest frequency in the first sensing signal group (i.e., sensing signal 121 shown in the figure).

[0114] Method 2: Overlapping arrangement

[0115] In some embodiments, the first sensing signal includes at least two sensing signal groups, including a first sensing signal group and a second sensing signal group, wherein the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime, and the first sensing signal group and the second sensing signal group are arranged in an overlapping manner.

[0116] In some embodiments, where the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group precedes the time-domain position of the latest sensing signal in the first sensing signal group. That is, the time-domain positions of the second sensing signal group overlap with those of the first sensing signal group.

[0117] For example, as shown in Figure 13, the first sensing signal includes a first sensing signal group and a second sensing signal group. The time-domain interval of the first sensing signal group is 3, and the time-domain interval of the second sensing signal group is 4. The time-domain intervals of the first and second sensing signal groups are coprime, and the first and second sensing signal groups overlap in the time domain. As can be seen from Figure 13, the time-domain position of the earliest sensing signal in the second sensing signal group (i.e., sensing signal 132 shown in the figure) precedes the time-domain position of the latest sensing signal in the first sensing signal group (i.e., sensing signal 131 shown in the figure).

[0118] In some embodiments, where the signal interval includes a signal frequency domain interval, the frequency domain position of the sensing signal with the smallest frequency in the second sensing signal group precedes the frequency domain position of the sensing signal with the largest frequency in the first sensing signal group. That is, the frequency domain positions of the second sensing signal group overlap with those of the first sensing signal group.

[0119] For example, as shown in Figure 14, the first sensing signal includes a first sensing signal group and a second sensing signal group. The frequency domain interval of the first sensing signal group is 2, and the frequency domain interval of the second sensing signal group is 3. The frequency domain intervals of the first and second sensing signal groups are coprime, and the first and second sensing signal groups overlap in the frequency domain. As can be seen from Figure 14, the frequency domain position of the sensing signal with the smallest frequency in the second sensing signal group (i.e., sensing signal 142 shown in the figure) precedes the frequency domain position of the sensing signal with the largest frequency in the first sensing signal group (i.e., sensing signal 141 shown in the figure).

[0120] A typical overlapping arrangement is a nested arrangement.

[0121] In some embodiments, the signal interval corresponding to the first sensing signal group is greater than the signal interval corresponding to the second sensing signal group. The second sensing signal group is located between two adjacent sensing signals included in the first sensing signal group.

[0122] In some embodiments, when the signal interval includes a signal time-domain interval, the time-domain position of each sensing signal in the second sensing signal group is located between the time-domain positions of two adjacent sensing signals included in the first sensing signal group.

[0123] For example, as shown in Figure 15, the first sensing signal includes a first sensing signal group and a second sensing signal group. The time-domain interval of the first sensing signal group is 9, and the time-domain interval of the second sensing signal group is 2. The time-domain interval of the first sensing signal group is greater than the time-domain interval of the second sensing signal group, and the time-domain intervals of the first and second sensing signal groups are coprime. As can be seen from Figure 15, the time-domain positions of each sensing signal in the second sensing signal group are all located between the time-domain positions of two adjacent sensing signals included in the first sensing signal group, forming a nested arrangement.

[0124] In some embodiments, when the signal interval includes a signal frequency domain interval, the frequency domain position of each sensing signal in the second sensing signal group is located between the frequency domain positions of two adjacent sensing signals included in the first sensing signal group.

[0125] For example, as shown in Figure 16, the first sensing signal includes a first sensing signal group and a second sensing signal group. The frequency domain interval of the first sensing signal group is 4, and the frequency domain interval of the second sensing signal group is 1. The frequency domain interval of the first sensing signal group is greater than that of the second sensing signal group, and the frequency domain intervals of the first and second sensing signal groups are coprime. As can be seen from Figure 16, the frequency domain positions of each sensing signal in the second sensing signal group are all located between the frequency domain positions of two adjacent sensing signals included in the first sensing signal group, forming a nested arrangement.

[0126] In some embodiments, when multiple second sensing signal groups exist, the positions of the multiple second sensing signal groups within the first sensing signal group are located between two different adjacent sensing signals. Optionally, the positions of the multiple second sensing signal groups within the first sensing signal group are uniformly distributed.

[0127] For example, as shown in Figure 17, the first sensing signal includes a first sensing signal group and a second sensing signal group. The time-domain interval of the first sensing signal group is 5, and the time-domain interval of the second sensing signal group is 2. The time-domain interval of the first sensing signal group is greater than that of the second sensing signal group, and the time-domain intervals of the first and second sensing signal groups are coprime. As can be seen from Figure 17, for any second sensing signal group, the time-domain position of each sensing signal in the second sensing signal group is located between the time-domain positions of two adjacent sensing signals included in the first sensing signal group, forming a nested arrangement. Furthermore, as can be seen from Figure 17, there are two second sensing signal groups, and the positions of these two second sensing signal groups within the first sensing signal group are evenly distributed.

[0128] The above describes the arrangement of sensing signal groups with coprime signal spacing. They can be arranged sequentially or overlapping. Regardless of the arrangement method, the maximum unambiguous range obtained by continuous arrangement of sensing signals can be achieved, thereby saving channel overhead while satisfying sensing performance.

[0129] In some embodiments, the first sensing signal group and the second sensing signal group are arranged periodically in the time domain and / or frequency domain, and the arrangement within each period is as described above. Optionally, when the first sensing signal group and the second sensing signal group are arranged periodically in the time domain, the time domain period of the first sensing signal group and the time domain period of the second sensing signal group are the same; when the first sensing signal group and the second sensing signal group are arranged periodically in the frequency domain, the frequency domain period of the first sensing signal group and the frequency domain period of the second sensing signal group are the same.

[0130] For example, as shown in Figure 18, a schematic diagram of the periodic arrangement in the time domain is illustrated when the first sensing signal group and the second sensing signal group are arranged sequentially. The time domain period of the first sensing signal group and the time domain period of the second sensing signal group are the same, both being T.

[0131] Considering that channel estimation in practical systems requires signals to have a certain regularity, that is, the same sub-time period or sub-bandwidth of the same sensing signal arrangement appears repeatedly, so as to facilitate smoothing processing, that is, to reuse the same smoothing filter parameters to achieve the purpose of decoherence and noise cancellation, it is necessary to design periodic coprime signal patterns.

[0132] In this embodiment, the first sensing signal includes at least two sensing signal groups whose signal intervals are coprime, and the first node obtains the first sensing result based on the first sensing signal. It can be seen that the multiple sensing signals that jointly obtain a single sensing result are designed with non-uniform intervals; that is, the sensing signals included in the first sensing signal are designed with non-uniform intervals. For such non-uniformly spaced sensing signals, the traditional FFT (Fast Fourier Transform) algorithm is no longer applicable, and the MUSIC (Multiple Signal Classification) algorithm is usually required. The MUSIC algorithm searches for the velocity or distance value with the maximum spectral function within a certain range using a certain step size, and its complexity is quite high. Furthermore, the NUFFT (Non-uniform Fast Fourier Transform) algorithm can reduce the complexity to some extent, but because it involves a series of pre-processing and post-processing steps in addition to the uniform FFT, these two algorithms can estimate the velocity or distance measurement values ​​relatively accurately, but their complexity is still very high and difficult to implement in engineering. Therefore, how to receive coprime signals with low complexity and ease of engineering implementation is a problem that needs to be solved.

[0133] This application proposes that: for at least two sensing signal groups with coprime signal intervals, a corresponding spectrum can be determined for each sensing signal group, and then a first sensing result can be obtained based on the spectrum corresponding to the at least two sensing signal groups with coprime signal intervals.

[0134] The technical solution provided in this application, on the one hand, achieves the maximum unambiguous range obtained by continuously arranging sensing signals by jointly receiving sensing signal groups with coprime signal intervals, thereby saving channel overhead while satisfying sensing performance. On the other hand, for at least two sensing signal groups with coprime signal intervals, a corresponding spectrum can be determined based on each sensing signal group. Then, based on the spectrum corresponding to the at least two sensing signal groups with coprime signal intervals, the sensing result is obtained. By receiving the aforementioned sensing signals and calculating the corresponding sensing results in this way, the complexity is reduced while ensuring the accuracy of the sensing result calculation, making it easier for engineering implementation.

[0135] Scenario 1: The first node acquires the first sensing result based on the first sensing signal in the time domain.

[0136] In some embodiments, the first sensing signal includes at least two sensing signal groups, comprising a first sensing signal group and a second sensing signal group. The first signal interval and the second signal interval are coprime. The first signal interval is the signal interval corresponding to the first sensing signal group in the time domain, and the second signal interval is the signal interval corresponding to the second sensing signal group in the time domain. That is, the first signal interval is the signal time domain interval corresponding to the first sensing signal group, and the second signal interval is the signal time domain interval corresponding to the second sensing signal group. For example, the signal time domain interval corresponding to the first sensing signal group is a. i The time-domain interval of the signal corresponding to the second sensing signal group is a. j , where a i With a j coprime, a i and a j All are positive integers. Optionally, a i Less than a j .

[0137] Optionally, the first sensing signal group and the second sensing signal group occupy one or more frequency domain units in the frequency domain, and the multiple frequency domain units are arranged at equal intervals. Alternatively, the first sensing signal occupies one or more frequency domain units in the frequency domain, and the multiple frequency domain units are arranged at equal intervals. The frequency domain unit can be any of the following: subcarrier, subband, RB, or RBG.

[0138] For example, as shown in Figure 19, the first sensing signal includes a first sensing signal group and a second sensing signal group. The time-domain interval of the signal corresponding to the first sensing signal group is 3 time slots, and the time-domain interval of the signal corresponding to the second sensing signal group is 4 time slots. The first sensing signal occupies 4 subcarriers in the frequency domain. These 4 subcarriers are arranged at equal intervals, with an interval of 2 subcarriers.

[0139] In some embodiments, the first sensing result includes a velocity-related sensing result, which is obtained based on a first spectrum and a second spectrum. The first spectrum is a spectrum determined based on a first sensing signal group, and the second spectrum is a spectrum determined based on a second sensing signal group.

[0140] In some embodiments, the first spectrum is obtained based on any of the following methods:

[0141] (1) Perform Fourier transform on the first sensing signal group arranged on any frequency domain unit;

[0142] As shown in Figure 19, the first spectrum can be obtained by performing a Fourier transform on the first sensing signal group arranged on any subcarrier.

[0143] (2) Take the average of the first sensing signal groups arranged on at least two frequency domain units after performing Fourier transform;

[0144] As shown in Figure 19, the first spectrum can be obtained by performing Fourier transform on the first sensing signal group arranged on two or more subcarriers and taking the average value.

[0145] (3) Perform a two-dimensional Fourier transform on the first sensing signal group arranged on at least two frequency domain units.

[0146] As shown in Figure 19, a first spectrum can be obtained by performing a two-dimensional Fourier transform on the first sensing signal group arranged on two or more subcarriers. The two-dimensional Fourier transform is a mathematical transformation that converts a function from the spatial domain to the frequency domain. In this embodiment, the two-dimensional Fourier transform is used to convert the sensing signals arranged in the time and frequency domains from the two-dimensional spatial domain to the frequency domain, making signal processing and analysis more intuitive and efficient. The two-dimensional Fourier transform is a generalization of the one-dimensional Fourier transform and is applicable to multi-dimensional spatial processing.

[0147] In addition, the method for obtaining the second spectrum is similar to that for obtaining the first spectrum. The second spectrum can be obtained based on any of the following methods: (1) performing a Fourier transform on the second sensing signal group arranged on any frequency domain unit; (2) performing a Fourier transform on the second sensing signal group arranged on at least two frequency domain units and then averaging the results; (3) performing a two-dimensional Fourier transform on the second sensing signal group arranged on at least two frequency domain units.

[0148] In some embodiments, velocity-related perception results include at least one of the following: velocity, radial velocity, Doppler frequency, radial Doppler frequency, micro Doppler frequency, and radial micro Doppler frequency.

[0149] In some embodiments, the speed-related sensing results include: a speed measurement value for the sensed target, the speed measurement value being determined based on a first speed estimate and a second speed estimate, the first speed estimate being determined based on a first sensing signal group and a first spectrum, and the second speed estimate being determined based on a second sensing signal group and a second spectrum.

[0150] In some embodiments, the first velocity estimate and the second velocity estimate are obtained based on the following method:

[0151] S1. Based on the first spectrum and the maximum unambiguous velocity corresponding to the first sensing signal group, obtain the preliminary measurement velocity corresponding to the first sensing signal group;

[0152] The maximum unambiguous velocity corresponding to the first sensing signal group is ±v max,i The maximum unambiguous velocity corresponding to the second sensing signal group is ±v max,j ,in Δt is the unit of time, c is the speed of light, and f is the speed of light. c For carrier frequency, a i a is the time-domain interval of the signal corresponding to the first sensing signal group. j This represents the time-domain interval of the signal corresponding to the second sensing signal group. In this embodiment, we assume a... i Less than a j .

[0153] Based on the first spectrum and the maximum unambiguous velocity corresponding to the first sensing signal group, the first node can obtain the preliminary measured velocity v corresponding to the first sensing signal group. i Similarly, based on the second spectrum and the maximum unambiguous velocity corresponding to the second sensing signal group, the first node can obtain the preliminary measured velocity v corresponding to the second sensing signal group. j .

[0154] S2, based on the integer K1 between the first threshold and the second threshold, the preliminary measured speed corresponding to the first sensing signal group, and the maximum unambiguous speed corresponding to the first sensing signal group, determine at least one speed estimate corresponding to the first sensing signal group.

[0155] For a sensing signal group with a relatively small time-domain interval (i.e., the first sensing signal group), a fuzzy assumption is made, and at least one velocity estimate v corresponding to the first sensing signal group is calculated based on an integer K1 between the first threshold K and the second threshold K′. est ′, v est ′=v i +K1*2*v max,i Where K1 is an integer between [K, K′], and different values ​​of K1 can yield different v. estOptionally, the first threshold and the second threshold are determined based on at least one of the following parameters: the maximum unambiguous velocity corresponding to a sensing signal group with a signal interval of 1 in the time domain, and the actual velocity range of the sensing target. The actual velocity range of the sensing target can be pre-configured or defined according to the sensing service.

[0156] Because sensing signals with small time-domain intervals correspond to a large unambiguous velocity range, fewer K1 values ​​can be found that satisfy the actual velocity range of the sensing target, reducing the complexity of the receiving algorithm. Furthermore, knowing the actual velocity range of the sensing target helps to reduce the search range for K1 values.

[0157] S3, determine K2 based on at least one speed estimate corresponding to the first sensing signal group, the preliminary measured speed corresponding to the second sensing signal group, and the maximum unambiguous speed corresponding to the second sensing signal group;

[0158] For a sensing signal group with a large time-domain interval (i.e., the second sensing signal group), the following expression also applies: v est =v j +K2*2*v max,j Then, based on at least one velocity estimate v corresponding to the first sensing signal group est From ′, at least one K2′ can be obtained. From the at least one K2′, find the K2′ that is closest to the integer and round it to the nearest integer to obtain K2.

[0159] S4. Determine the first speed estimate based on K1 corresponding to K2, the preliminary measured speed corresponding to the first sensing signal group, and the maximum unambiguous speed corresponding to the first sensing signal group.

[0160] Wherein, K1 corresponding to K2 refers to the velocity estimate v of the calculated K2′ closest to the integer obtained above. est The K1 corresponding to ′. For example, there are two integers K1 between the first threshold K and the second threshold K′, namely A and B. When K1 = A, the calculated v is... est The first K2 has been determined. When K1 = B, the calculated v est The second K2′ has been determined. Assuming that the first K2′ mentioned above is the closest integer K2′, then K2 is obtained by rounding the first K2′ to the nearest integer, and the K1 corresponding to K2 is A.

[0161] The first node will connect K2 to K1 and the initial measured velocity v corresponding to the first sensing signal group. i and the maximum unambiguous velocity v corresponding to the first sensing signal group max,i Substituting v into the above formula est ′=v i +K1*2*v max,iThe first velocity estimate v can then be calculated. est,i .

[0162] S5. Determine the second velocity estimate based on K2, the preliminary measured velocity corresponding to the second sensing signal group, and the maximum unambiguous velocity corresponding to the second sensing signal group.

[0163] The first node will measure the initial velocity v corresponding to K2 and the second sensing signal group. j And the maximum unambiguous velocity v corresponding to the second sensing signal group max,j Substituting v into the above formula est =v j +K2*2*v max,j The second velocity estimate v can then be calculated. est,j .

[0164] Based on the first velocity estimate v est,i Second velocity estimate v ext,j The velocity measurement value of the perceived target can be determined by either method 1 or method 2.

[0165] Method 1: The velocity measurement value of the perceived target is the first velocity estimate v. est,i Second velocity estimate v ext,j The average value.

[0166] Method 2: When the velocity calculation resolution corresponding to the first sensing signal group is greater than that corresponding to the second sensing signal group, the velocity measurement value of the sensed target is the first velocity estimate; when the velocity calculation resolution corresponding to the second sensing signal group is greater than that corresponding to the first sensing signal group, the velocity measurement value of the sensed target is the second velocity estimate. In other words, the velocity estimate corresponding to the sensing signal group with the larger velocity calculation resolution between the first and second sensing signal groups is determined as the velocity measurement value of the sensed target.

[0167] Optionally, the velocity calculation resolution corresponding to the sensing signal group is determined based on the maximum unambiguous velocity corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group. For example, the velocity calculation resolution corresponding to the sensing signal group is... Where N n,FFT Let the signal time-domain interval be a n The number of Fourier transform points corresponding to the sensing signal group, n = i or j.

[0168] This application also provides another method for obtaining velocity measurements of a perceived target.

[0169] Method 3: The velocity measurement value of the perceived target is determined based on the velocity estimate corresponding to the minimum value among at least one velocity estimate corresponding to the first sensing signal group and at least one first energy difference, wherein each first energy difference corresponds to a velocity estimate corresponding to the first sensing signal group.

[0170] In some embodiments, at least one first energy difference is obtained based on the following:

[0171] S1, calculate the energy of the preliminary measured velocity corresponding to the first sensing signal group in the first spectrum to obtain the first energy value;

[0172] The first node calculates the preliminary measured velocity v corresponding to the first sensing signal group. i The energy in the first spectrum is used to obtain the first energy value p1. Optionally, if the first spectrum is obtained by a one-dimensional Fourier transform, at least 3 energy values ​​before and after the first spectrum are counted; if the first spectrum is obtained by a two-dimensional Fourier transform, at least 9 energy values ​​around the first spectrum are counted.

[0173] S2, based on at least one velocity estimate corresponding to the first sensing signal group, the maximum unambiguous velocity corresponding to the second sensing signal group, and K3, determine at least one estimate of the preliminary measured velocity corresponding to the second sensing signal group; wherein, K3 is determined based on the velocity estimate corresponding to the first sensing signal group and the maximum unambiguous velocity corresponding to the second sensing signal group;

[0174] The first node estimates at least one velocity value v corresponding to the first sensing signal group. est ′, according to v est ′-K3*2*v max,j At least one estimated value v of the preliminary measured velocity corresponding to the second sensing signal group is calculated. j ′。 Where K3 is v′ est / 2*v max,j The result of rounding to zero.

[0175] S3, calculate at least one estimated value of the preliminary measured velocity corresponding to the second sensing signal group, and obtain at least one second energy value from the energy in the second spectrum;

[0176] The first node calculates at least one estimate v of the preliminary measured velocity corresponding to the second sensing signal group. j From the energy in the second spectrum, at least one second energy value p2 is obtained.

[0177] S4, calculate the difference between at least one second energy value and the first energy value to obtain at least one first energy difference.

[0178] After compensating for the theoretical energy difference between the second and first spectra, the first node calculates at least one difference between the second energy value p2 and the first energy value p1, thus obtaining at least one first energy difference, i.e., different v est Different first energy differences are obtained.

[0179] In some embodiments, the velocity measurement value of the perceived target is v corresponding to the minimum value among the at least one first energy difference mentioned above. est ′.

[0180] It should be noted that, in order to use this method 3, the following condition must be met: the velocity calculation resolution corresponding to the first sensing signal group is greater than the velocity calculation resolution corresponding to the second sensing signal group.

[0181] Compared to methods 1 and 2, method 3 simply uses the second sensing signal group for deblurring and ultimately uses the measurement value of the first sensing signal group as the final value. In order to achieve a higher accuracy in speed measurement, it is best to require that the speed calculation resolution corresponding to the first sensing signal group is higher than the speed calculation resolution corresponding to the second sensing signal group.

[0182] Scenario 2: The first node acquires the first sensing result based on the first sensing signal in the frequency domain.

[0183] In some embodiments, the first sensing signal includes at least two sensing signal groups, including a third sensing signal group and a fourth sensing signal group. The third signal interval and the fourth signal interval are coprime. The third signal interval is the signal interval corresponding to the third sensing signal group in the frequency domain, and the fourth signal interval is the signal interval corresponding to the fourth sensing signal group in the frequency domain. That is, the third signal interval is the signal frequency domain interval corresponding to the third sensing signal group, and the fourth signal interval is the signal frequency domain interval corresponding to the fourth sensing signal group. For example, the signal frequency domain interval corresponding to the third sensing signal group is b. i The frequency domain spacing of the signal corresponding to the fourth sensing signal group is b. j , where b i With b j coprime, b i and b j All are positive integers. Optionally, b i Less than b j .

[0184] Optionally, the third and fourth sensing signal groups occupy one or more time-domain units in the time domain, with the multiple time-domain units arranged at equal intervals. Alternatively, the first sensing signal occupies one or more time-domain units in the time domain, with the multiple time-domain units arranged at equal intervals. The time-domain unit can be any of the following: symbol, time slot, subframe, or frame.

[0185] For example, as shown in Figure 20, the first sensing signal includes a third sensing signal group and a fourth sensing signal group. The frequency domain interval of the signal corresponding to the third sensing signal group is 2 subcarriers, and the frequency domain interval of the signal corresponding to the fourth sensing signal group is 3 subcarriers. The first sensing signal occupies multiple time slots in the time domain. These multiple time slots are arranged at equal intervals, with an interval of 3 time slots.

[0186] In some embodiments, the first sensing result includes a distance-related sensing result, which is obtained based on a third spectrum and a fourth spectrum, wherein the third spectrum is a spectrum determined according to a third sensing signal group, and the fourth spectrum is a spectrum determined according to a fourth sensing signal group.

[0187] In some embodiments, the third spectrum is obtained based on any of the following methods:

[0188] (1) Perform Fourier transform on the third sensing signal group arranged in any time domain unit;

[0189] As shown in Figure 20, the third spectrum can be obtained by performing a Fourier transform on the third sensing signal group arranged in any time slot.

[0190] (2) Take the average of the three sensing signal groups arranged in at least two time domain units after performing Fourier transform;

[0191] As shown in Figure 20, the third spectrum can be obtained by performing Fourier transform on the third sensing signal group arranged in two or more time slots and taking the average value.

[0192] (3) Perform a two-dimensional Fourier transform on the third sensing signal group arranged in at least two time domain units.

[0193] As shown in Figure 20, a third spectrum can be obtained by performing a two-dimensional Fourier transform on the third sensing signal group arranged in two or more time slots. The two-dimensional Fourier transform is a mathematical transformation that converts a function from the spatial domain to the frequency domain. In this embodiment, the two-dimensional Fourier transform is used to convert the sensing signals arranged in the time and frequency domains from the two-dimensional spatial domain to the frequency domain, making signal processing and analysis more intuitive and efficient. The two-dimensional Fourier transform is a generalization of the one-dimensional Fourier transform and is applicable to multi-dimensional spatial processing.

[0194] In addition, the method for obtaining the fourth spectrum is similar to that for obtaining the third spectrum. The fourth spectrum can be obtained based on any of the following methods: (1) performing a Fourier transform on the fourth sensing signal group arranged on any time domain unit; (2) performing a Fourier transform on the fourth sensing signal group arranged on at least two time domain units and then averaging the results; (3) performing a two-dimensional Fourier transform on the fourth sensing signal group arranged on at least two time domain units.

[0195] In some embodiments, distance-related perception results include at least one of the following: distance, time delay, absolute time delay, and relative time delay.

[0196] In some embodiments, the distance-related sensing results include: a distance measurement for the sensed target, the distance measurement being determined based on a first distance estimate and a second distance estimate, the first distance estimate being determined based on a third sensing signal group and a third spectrum, and the second distance estimate being determined based on a fourth sensing signal group and a fourth spectrum.

[0197] In some embodiments, the first distance estimate and the second distance estimate are obtained based on the following method:

[0198] S1. Based on the third spectrum and the maximum unambiguous distance corresponding to the third sensing signal group, the preliminary measurement distance corresponding to the third sensing signal group is obtained.

[0199] The maximum unambiguous distance corresponding to the third sensing signal group is d. max,i The maximum unambiguous distance corresponding to the fourth sensing signal group is d. max,j ,in Δf is the subcarrier spacing, c is the speed of light, and b is the speed of light. i b is the frequency domain spacing of the signal corresponding to the third sensing signal group. j This represents the frequency domain spacing of the signal corresponding to the fourth sensing signal group. In this embodiment, it is assumed that b... i Less than b j .

[0200] Based on the third spectrum and the maximum unambiguous distance corresponding to the third sensing signal group, the first node can obtain the preliminary measurement distance d corresponding to the third sensing signal group. i Similarly, based on the fourth spectrum and the maximum unambiguous distance corresponding to the fourth sensing signal group, the first node can obtain the preliminary measurement distance d corresponding to the fourth sensing signal group. j .

[0201] S2, based on the integer K4 between the third threshold and the fourth threshold, the preliminary measurement distance corresponding to the third sensing signal group, and the maximum unambiguous distance corresponding to the third sensing signal group, determine at least one distance estimate corresponding to the third sensing signal group.

[0202] For a sensing signal group with a relatively small frequency domain spacing (i.e., the third sensing signal group), a fuzzy assumption is made, and at least one distance estimate d corresponding to the third sensing signal group is calculated based on an integer K4 between the third threshold K and the fourth threshold K′. est ′,d est ′=d i +K1*2*d max,iWhere K4 is an integer between [K, K′], and different values ​​of K4 can yield different values ​​of d. est Optionally, the third and fourth thresholds are determined based on at least one of the following parameters: the maximum unambiguous distance corresponding to a sensing signal group with a signal spacing of 1 in the frequency domain, and the actual distance range of the sensing target. The actual distance range of the sensing target can be pre-configured or defined according to the sensing service.

[0203] Since sensing signals with small frequency domain spacing correspond to a large unambiguous range, fewer K4 values ​​can be found that satisfy the actual distance range of the sensing target, reducing the complexity of the receiving algorithm. Furthermore, knowing the actual distance range of the sensing target helps to reduce the search range for K4 values.

[0204] S3, determine K5 based on at least one distance estimate corresponding to the third sensing signal group, the preliminary measured distance corresponding to the fourth sensing signal group, and the maximum unambiguous distance corresponding to the fourth sensing signal group;

[0205] For a sensing signal group with a large frequency domain spacing (i.e., the fourth sensing signal group), the following expression also applies: d est =d j +K5*d max,j Then, based on at least one distance estimate d corresponding to the third sensing signal group est From ′, at least one K5′ can be obtained. From the at least one K5′, find the K5′ that is closest to the integer and round it to the nearest integer to obtain K5.

[0206] S4. Determine the first distance estimate based on K4 corresponding to K5, the preliminary measurement distance corresponding to the third sensing signal group, and the maximum unambiguous distance corresponding to the third sensing signal group.

[0207] Wherein, K4 corresponding to K5 refers to the distance estimate d obtained by calculating the closest integer K5′ mentioned above. est The corresponding K4. For example, there are two integers K4 between the third threshold K and the fourth threshold K′, namely C and D. When K4 = C, the calculated d is... est The first K5 has been determined. When K4 = D, the calculated d est The second K5′ has been determined. Assuming that the second K5′ is the closest integer K5′, then K5 is obtained by rounding the second K5′ to the nearest integer, and the K4 corresponding to K5 is D.

[0208] The first node will determine the initial measurement distance d corresponding to K4 and the third sensing signal group, respectively. i And the maximum unambiguous distance d corresponding to the third sensing signal group max,i Substituting into the above formula dest ′=d i +K1*2*d max,i The first distance estimate d can then be calculated. est,i .

[0209] S5. Determine the second distance estimate based on K5, the preliminary measured distance corresponding to the fourth sensing signal group, and the maximum unambiguous distance corresponding to the fourth sensing signal group.

[0210] The first node will measure the initial distance d corresponding to K5 and the fourth sensing signal group. j And the maximum unambiguous distance d corresponding to the fourth sensing signal group max,j Substituting into the above formula d est =d j +K2*d max,j The second distance estimate d can then be calculated. est,j .

[0211] Based on the first distance estimate d est,i Second distance estimate d est,j The distance measurement of the perceived target can be determined by either method 1 or method 2.

[0212] Method 1: The distance measurement of the perceived target is the first distance estimate d. est,i Second distance estimate d est,j The average value.

[0213] Method 2: When the distance calculation resolution corresponding to the third sensing signal group is greater than the distance calculation resolution corresponding to the fourth sensing signal group, the distance measurement value of the sensed target is the first distance estimate d. est,i When the distance calculation resolution corresponding to the fourth sensing signal group is greater than that corresponding to the third sensing signal group, the distance measurement value of the sensed target is the second distance estimate d. est,j In other words, the distance estimate corresponding to the sensing signal group with the larger distance calculation resolution between the third and fourth sensing signal groups is determined as the distance measurement value of the sensing target.

[0214] Optionally, the distance calculation resolution is determined based on the maximum unambiguous distance corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group. For example, the distance calculation resolution corresponding to the sensing signal group is... Where N n,FFT The signal frequency domain spacing is b n The number of Fourier transform points corresponding to the sensing signal group, n = i or j.

[0215] This application also provides another method for obtaining distance measurements of a perceived target.

[0216] Method 3: The distance measurement of the perceived target is determined based on the distance estimate corresponding to the minimum value among at least one distance estimate corresponding to the third sensing signal group and at least one second energy difference, wherein each second energy difference corresponds to a distance estimate corresponding to the third sensing signal group.

[0217] In some embodiments, at least one second energy difference is obtained based on the following:

[0218] S1, calculate the energy of the preliminary measurement distance corresponding to the third sensing signal group in the third spectrum to obtain the third energy value;

[0219] The first node calculates the preliminary measurement distance d corresponding to the third sensing signal group. i The energy in the third spectrum is used to obtain the third energy value p3. Optionally, if the third spectrum is obtained by a one-dimensional Fourier transform, at least 3 energy values ​​before and after the first point are counted; if the third spectrum is obtained by a two-dimensional Fourier transform, at least 9 energy values ​​around the first point are counted.

[0220] S2, based on at least one distance estimate corresponding to the third sensing signal group, the maximum unambiguous distance corresponding to the fourth sensing signal group, and K6, determine at least one estimate of the preliminary measured distance corresponding to the fourth sensing signal group; wherein, K6 is determined based on the distance estimate corresponding to the third sensing signal group and the maximum unambiguous distance corresponding to the fourth sensing signal group;

[0221] The first node uses at least one distance estimate d corresponding to the third sensing signal group. est ′, according to d est ′-K3*d max,j At least one estimated value d is obtained for the preliminary measurement distance corresponding to the fourth sensing signal group. j ′。 Where K6 is d′ est / d max,j The result of rounding.

[0222] S3, calculate at least one estimated value of the preliminary measurement distance corresponding to the fourth sensing signal group, and the energy in the fourth spectrum to obtain at least one fourth energy value;

[0223] The first node calculates at least one estimate d of the preliminary measured distance corresponding to the fourth sensing signal group. j The energy in the fourth spectrum yields at least one fourth energy value, p4.

[0224] S4, calculate the difference between at least one fourth energy value and the third energy value to obtain at least one second energy difference.

[0225] After compensating for the theoretical energy difference between the fourth and third spectra, the first node calculates at least one difference between the fourth energy value p4 and the third energy value p3, thus obtaining at least one second energy difference, i.e., different d est Different second energy differences are obtained.

[0226] In some embodiments, the distance measurement value of the perceived target is the minimum value of the at least one second energy difference value mentioned above, corresponding to d. est ′.

[0227] It should be noted that, in order to use this method 3, the following condition must be met: the distance calculation resolution corresponding to the third sensing signal group is greater than the distance calculation resolution corresponding to the fourth sensing signal group.

[0228] Compared to methods 1 and 2, method 3 simply uses the fourth sensing signal group for deblurring and ultimately uses the measurement value of the third sensing signal group as the final value. In order to achieve a higher accuracy of distance measurement, it is best to require that the distance calculation resolution corresponding to the third sensing signal group is higher than that corresponding to the fourth sensing signal group.

[0229] Scenario 3: The first node obtains the first sensing result based on the first sensing signal in the time domain and frequency domain.

[0230] In some embodiments, the first sensing signal includes at least two sensing signal groups, comprising a first sensing signal group and a second sensing signal group. The first signal interval and the second signal interval are coprime. The first signal interval is the signal interval corresponding to the first sensing signal group in the time domain, and the second signal interval is the signal interval corresponding to the second sensing signal group in the time domain. That is, the first signal interval is the signal time domain interval corresponding to the first sensing signal group, and the second signal interval is the signal time domain interval corresponding to the second sensing signal group. For example, the signal time domain interval corresponding to the first sensing signal group is a. i The time-domain interval of the signal corresponding to the second sensing signal group is a. j , where a i With a j coprime, a i and a j All are positive integers. Optionally, a i Less than a j Optionally, the first sensing signal group and the second sensing signal group occupy one or more frequency domain units in the frequency domain, and the multiple frequency domain units are arranged at equal intervals. The frequency domain unit can be any of the following: subcarrier, subband, RB, or RBG.

[0231] In some embodiments, the first sensing signal includes at least two sensing signal groups, further comprising a third sensing signal group and a fourth sensing signal group. The third signal interval and the fourth signal interval are coprime. The third signal interval is the signal interval corresponding to the third sensing signal group in the frequency domain, and the fourth signal interval is the signal interval corresponding to the fourth sensing signal group in the frequency domain. That is, the third signal interval is the signal frequency domain interval corresponding to the third sensing signal group, and the fourth signal interval is the signal frequency domain interval corresponding to the fourth sensing signal group. For example, the signal frequency domain interval corresponding to the third sensing signal group is b. i The frequency domain spacing of the signal corresponding to the fourth sensing signal group is b. j , where b i With b j coprime, b i and b j All are positive integers. Optionally, b i Less than b j Optionally, the third and fourth sensing signal groups occupy one or more time-domain units in the time domain, with multiple time-domain units arranged at equal intervals. The time-domain unit can be any of the following: symbol, time slot, subframe, or frame.

[0232] For example, as shown in Figure 21, the first sensing signal includes the following four sensing signal groups: sensing signal group A, sensing signal group B, sensing signal group C, and sensing signal group D. The signal time-domain interval of sensing signal group A is 3, and the signal frequency-domain interval is 2; the signal time-domain interval of sensing signal group B is 4, and the signal frequency-domain interval is 2; the signal time-domain interval of sensing signal group C is 3, and the signal frequency-domain interval is 3; the signal time-domain interval of sensing signal group D is 4, and the signal frequency-domain interval is 3. The signal time-domain intervals of sensing signal group A and sensing signal group B are coprime, and the signal time-domain intervals of sensing signal group C and sensing signal group D are coprime. Furthermore, the signal frequency-domain intervals of sensing signal group A and sensing signal group C are coprime, and the signal frequency-domain intervals of sensing signal group B and sensing signal group D are coprime. In this example, the first sensing signal includes sensing signal groups with coprime signal time-domain intervals as well as sensing signal groups with coprime signal frequency-domain intervals.

[0233] In some embodiments, the first sensing result includes a velocity-related sensing result, which is obtained based on a first spectrum and a second spectrum. The first spectrum is a spectrum determined based on a first sensing signal group, and the second spectrum is a spectrum determined based on a second sensing signal group.

[0234] For example, as shown in Figure 21, velocity-related sensing results can be obtained based on the spectra corresponding to sensing signal group A and sensing signal group B; alternatively, velocity-related sensing results can be obtained based on the spectra corresponding to sensing signal group C and sensing signal group D; or, velocity-related sensing results can be obtained based on the spectra corresponding to sensing signal groups A, B, C, and D respectively. For example, one velocity-related sensing result can be obtained based on the spectra corresponding to sensing signal group A and sensing signal group B, and another velocity-related sensing result can be obtained based on the spectra corresponding to sensing signal group C and sensing signal group D. The final velocity-related sensing result is obtained by combining the two sensing results, such as using the average of the two sensing results as the final velocity-related sensing result.

[0235] In some embodiments, the first sensing result includes a distance-related sensing result, which is obtained based on a third spectrum and a fourth spectrum, wherein the third spectrum is a spectrum determined according to a third sensing signal group, and the fourth spectrum is a spectrum determined according to a fourth sensing signal group.

[0236] For example, as shown in Figure 21, a distance-related sensing result can be obtained based on the spectrum corresponding to sensing signal group A and the spectrum corresponding to sensing signal group C; alternatively, a distance-related sensing result can be obtained based on the spectrum corresponding to sensing signal group B and the spectrum corresponding to sensing signal group D; or, a distance-related sensing result can be obtained based on the spectra corresponding to sensing signal groups A, B, C, and D respectively. For example, a distance-related sensing result can be obtained based on the spectrum corresponding to sensing signal group A and the spectrum corresponding to sensing signal group C, and another distance-related sensing result can be obtained based on the spectrum corresponding to sensing signal group B and the spectrum corresponding to sensing signal group D. The final distance-related sensing result is obtained by combining the two sensing results, such as using the average of the two sensing results as the final distance-related sensing result.

[0237] In some embodiments, the first perception result includes speed-related perception results and distance-related perception results. The speed-related perception results and distance-related perception results can be obtained using the methods described above, respectively.

[0238] In addition, for the specific calculation methods of obtaining the spectrum and velocity / distance related sensing results in case 3, please refer to the introduction and explanation in case 1 and case 2 above, which will not be repeated here.

[0239] The following section provides an explanation of the sensing capabilities for speed and distance measurement.

[0240] The first sensing result obtained based on the coprime sensing signals in the time domain can be a measurement value related to velocity or Doppler frequency, specifically including velocity, radial velocity, Doppler frequency, radial Doppler frequency, micro-Doppler frequency, and radial micro-Doppler frequency. Figure 22 shows the spectrum obtained after Fourier transform of a set of equally spaced sensing signals in the time domain. Since there is a conversion relationship between velocity and Doppler frequency... This spectrum can represent both velocity and Doppler spectra. Where f d Let v be the Doppler frequency, v be the velocity, and λ be a conversion factor, such as λ being a wavelength-related parameter. Furthermore, the velocity directly measured in the spectrum is actually the radial velocity, and there is a conversion relationship between the true velocity and the radial velocity. Even further, the micro-Doppler characteristic is the spectral lines of the side lobes in the Doppler spectrum.

[0241] Therefore, it is understood that when the first sensing result is defined as any of the above-mentioned measurement values, the final sensing result can be obtained according to the receiving algorithm proposed in this application. Specifically, a series of conversions can be performed to obtain the relevant spectrum of the sensing result before further sensing result acquisition, or the velocity measurement value can be obtained according to this receiving algorithm and then converted into the final sensing result.

[0242] The first sensing result obtained based on the mutually prime sensing signals in the frequency domain can be a distance- or time-delay-related measurement value, specifically including distance, time delay, absolute time delay, and relative time delay. Figure 23 shows the spectrum obtained after Fourier transform of a set of equally spaced sensing signals in the frequency domain. Since there is a conversion relationship between time delay and distance, d = c * t, this spectrum can represent both distance and time delay spectra. Here, d is the distance, t is the time delay, and c is a conversion factor, such as c = propagation speed. One possible implementation is to divide the time delay into the smallest time unit in the OFDM system, rather than specific nanoseconds; in this case, the values ​​on the horizontal axis of the spectrum will change accordingly. The time delay in the spectrum is also the absolute time delay. Under certain conditions, such as multiple targets, there may be relative time delays between multipath paths, which can be derived from the time delay in the spectrum.

[0243] Therefore, it is understood that when the first sensing result is defined as any of the above-mentioned measurement values, the final sensing result can be obtained according to the receiving algorithm proposed in this application. Specifically, a series of conversions can be performed to obtain the relevant spectrum of the sensing result before further sensing result acquisition, or the distance measurement value can be obtained according to this receiving algorithm and then converted into the final sensing result.

[0244] Two-dimensional Fourier transforms can be performed on a set of equally spaced sensing signals in the time domain and a set of equally spaced sensing signals in the frequency domain. First, Fourier transforms are performed in the frequency domain of each time domain unit, and then Fourier transforms are performed again on the spectrum after Fourier transform to obtain the distance-velocity spectrum shown in Figure 24. Similarly, it is also a time delay-Doppler spectrum. The spectrum contains two pieces of information.

[0245] The simulation results obtained by applying the receiving algorithm proposed in this application are described below.

[0246] The carrier frequency is 3 GHz, the subcarrier spacing is 15 kHz, the time slot spacing is 1 ms, the time domain range is 1000 time slots, and the equal interval is M. t Then the maximum unambiguous velocity range can be derived as follows: The target velocity is -24.5 m / s, and the signal-to-noise ratio is 10 dB. There are two sets of sensing signals in the time domain. One set has a time interval of 2 time slots and contains 200 signals, resulting in a maximum unambiguous range of [-12.5 m / s, 12.5 m / s]. The other set has a time interval of 5 time slots and contains 100 signals, resulting in a maximum unambiguous range of [-5 m / s, 5 m / s]. Clearly, neither set of sensing signals alone can capture the true velocity of the target.

[0247] By applying the sensing signal receiving algorithm proposed in this application, performing 256-point and 128-point FFTs on the two sensing signal groups respectively, two Doppler spectra as shown in Figure 25 can be obtained.

[0248] In the Doppler spectrum corresponding to the sensing signal groups with a spacing of 2, according to v real =v i +K1*2*v max,i Calculate, where v i =0.534, v max,i =12.5, and since the unambiguous velocity range of the perceived target is within ±25m / s under the system parameter settings, K1 can be -1 or 0, and correspondingly v can be obtained. est The possible values ​​are -24.466 and 0.534. If it is known that the target is moving in the negative direction, then there is no value of 0. In other words, if there is prior information about the target's speed, the search range can be narrowed.

[0249] According to implementation method 1, in the Doppler spectrum corresponding to the sensing signal group with an interval of 5, v j =-4.532, v max,j =5, depending on different v est From this, we can find that K2′ is -1.99 and 0.3998, with the closest integer being -1.99, which is close to -2. Therefore, we can obtain v.est,i With v est,j v est,i =-24.466, v est,j =-4.532-2*2*5=-24.532. The measured speed is -24.5m / s.

[0250] According to implementation method 2, the velocity calculation resolution corresponding to the sensing signal group with an interval of 2 is 0.098, and the velocity calculation resolution corresponding to the sensing signal group with an interval of 5 is 0.078. Therefore, the final velocity measurement value is -24.532m / s.

[0251] According to implementation method 3, the energy value in subgraph (a) of Figure 25 is 303.3815 (31.1425 + 196.8044 + 75.4346), for different v est ′, according to v est ′-K3*2*v max,j We can obtain -4.466 and 0.534. The energy that these two values ​​can represent in subgraph (b) is 159.8174 (9.0344+85.1814+65.6016) and 11.1715 (0.7126+4.4680+5.9909), respectively. Considering that the total energy difference between the two sensing signal groups is twice, to compensate for the theoretical difference, the energy in subgraph (a) is divided by 2 to approximately 151.69, which is closer to the former. Therefore, the final velocity measurement value is -24.466 m / s corresponding to this energy difference.

[0252] Simulation results show that the time complexity of the MUSIC algorithm is 0.05 seconds, the time complexity of NUFFT is 0.00086 seconds, and the time complexity of the algorithm proposed in this application is 0.00016 seconds. The algorithm proposed in this application can achieve higher accuracy than NUFFT while having lower complexity, making it more suitable for engineering implementation.

[0253] In the above method embodiments, the steps performed by the first node can be implemented separately as a method for transmitting sensing signals on the first node side; the steps performed by the second node can be implemented separately as a method for transmitting sensing signals on the second node side.

[0254] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0255] Please refer to Figure 26, which shows a block diagram of a sensing device provided in one embodiment of this application. This device has the functionality to implement the method example described above for the first node side. This functionality can be implemented in hardware or by hardware executing corresponding software. The device can be the first node described above, or it can be located within the first node. As shown in Figure 26, the device 2600 may include a processing module 2610.

[0256] Processing module 2610 is used to acquire a first sensing result based on a first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group. The first sensing result is acquired based on at least two spectra, and each spectra is determined based on a sensing signal group.

[0257] In some embodiments, the at least two sensing signal groups include a first sensing signal group and a second sensing signal group, the first signal interval and the second signal interval are coprime, the first signal interval is the signal interval corresponding to the first sensing signal group in the time domain, and the second signal interval is the signal interval corresponding to the second sensing signal group in the time domain.

[0258] In some embodiments, the first sensing result includes a velocity-related sensing result, which is obtained based on a first spectrum and a second spectrum, wherein the first spectrum is determined based on the first sensing signal group and the second spectrum is determined based on the second sensing signal group.

[0259] In some embodiments, the velocity-related sensing result includes: a velocity measurement value for the sensed target, the velocity measurement value being determined based on a first velocity estimate and a second velocity estimate, the first velocity estimate being determined based on a first sensed signal group and a first spectrum, and the second velocity estimate being determined based on a second sensed signal group and a second spectrum.

[0260] In some embodiments, the speed measurement value is the average of the first speed estimate and the second speed estimate; or, if the speed calculation resolution corresponding to the first sensing signal group is greater than the speed calculation resolution corresponding to the second sensing signal group, the speed measurement value is the first speed estimate; if the speed calculation resolution corresponding to the second sensing signal group is greater than the speed calculation resolution corresponding to the first sensing signal group, the speed measurement value is the second speed estimate; wherein, the speed calculation resolution is determined based on the maximum unambiguous speed corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group.

[0261] In some embodiments, the first velocity estimate and the second velocity estimate are obtained based on the following method: obtaining a preliminary measured velocity corresponding to the first sensing signal group based on the first spectrum and the maximum unambiguous velocity corresponding to the first sensing signal group; determining at least one velocity estimate corresponding to the first sensing signal group based on an integer K1 between a first threshold and a second threshold, the preliminary measured velocity corresponding to the first sensing signal group, and the maximum unambiguous velocity corresponding to the first sensing signal group; determining K2 based on at least one velocity estimate corresponding to the first sensing signal group, the preliminary measured velocity corresponding to the second sensing signal group, and the maximum unambiguous velocity corresponding to the second sensing signal group; determining the first velocity estimate based on K1 corresponding to K2, the preliminary measured velocity corresponding to the first sensing signal group, and the maximum unambiguous velocity corresponding to the first sensing signal group; and determining the second velocity estimate based on K2, the preliminary measured velocity corresponding to the second sensing signal group, and the maximum unambiguous velocity corresponding to the second sensing signal group.

[0262] In some embodiments, the first threshold and the second threshold are determined based on at least one of the following parameters: the maximum unambiguous velocity corresponding to a group of sensing signals with a signal interval of 1 in the time domain, and the actual velocity range of the sensing target.

[0263] In some embodiments, the speed-related perception result includes: a speed measurement value for the perceived target, the speed measurement value being determined based on a speed estimate value corresponding to the minimum value among at least one speed estimate value corresponding to the first perception signal group and at least one first energy difference value, wherein each first energy difference value corresponds to a speed estimate value corresponding to the first perception signal group.

[0264] In some embodiments, the at least one first energy difference is obtained based on the following method: calculating the energy of the preliminary measurement velocity corresponding to the first sensing signal group in the first spectrum to obtain a first energy value; determining at least one estimated value of the preliminary measurement velocity corresponding to the second sensing signal group based on at least one velocity estimate corresponding to the first sensing signal group, the maximum unambiguous velocity corresponding to the second sensing signal group, and K3; wherein, K3 is determined based on the velocity estimate corresponding to the first sensing signal group and the maximum unambiguous velocity corresponding to the second sensing signal group; calculating the energy of at least one estimated value of the preliminary measurement velocity corresponding to the second sensing signal group in the second spectrum to obtain at least one second energy value; and calculating the difference between the at least one second energy value and the first energy value to obtain the at least one first energy difference.

[0265] In some embodiments, the velocity calculation resolution corresponding to the first sensing signal group is greater than the velocity calculation resolution corresponding to the second sensing signal group, and the velocity calculation resolution is determined based on the maximum unambiguous velocity corresponding to the sensing signal group.

[0266] In some embodiments, the velocity-related sensing results include at least one of the following: velocity, radial velocity, Doppler frequency, radial Doppler frequency, micro Doppler frequency, and radial micro Doppler frequency.

[0267] In some embodiments, the first sensing signal group and the second sensing signal group occupy one or more frequency domain units in the frequency domain, and the plurality of frequency domain units are arranged at equal intervals.

[0268] In some embodiments, the first spectrum is obtained based on any of the following methods: performing a Fourier transform on the first sensing signal group arranged on any frequency domain unit; averaging the first sensing signal group arranged on at least two frequency domain units after performing a Fourier transform; or performing a two-dimensional Fourier transform on the first sensing signal group arranged on at least two frequency domain units.

[0269] In some embodiments, the at least two sensing signal groups include a third sensing signal group and a fourth sensing signal group, the third signal interval and the fourth signal interval are coprime, the third signal interval is the signal interval corresponding to the third sensing signal group in the frequency domain, and the fourth signal interval is the signal interval corresponding to the fourth sensing signal group in the frequency domain.

[0270] In some embodiments, the first sensing result includes a distance-related sensing result, which is obtained based on a third spectrum and a fourth spectrum, wherein the third spectrum is a spectrum determined based on the third sensing signal group, and the fourth spectrum is a spectrum determined based on the fourth sensing signal group.

[0271] In some embodiments, the distance-related perception result includes: a distance measurement value for a perceived target, the distance measurement value being determined based on a first distance estimate and a second distance estimate, the first distance estimate being determined based on the third sensing signal group and the third spectrum, and the second distance estimate being determined based on the fourth sensing signal group and the fourth spectrum.

[0272] In some embodiments, the distance measurement value is the average of the first distance estimate and the second distance estimate; or, if the distance calculation resolution corresponding to the third sensing signal group is greater than the distance calculation resolution corresponding to the fourth sensing signal group, the distance measurement value is the first distance estimate; if the distance calculation resolution corresponding to the fourth sensing signal group is greater than the distance calculation resolution corresponding to the third sensing signal group, the distance measurement value is the second distance estimate; wherein, the distance calculation resolution is determined based on the maximum unambiguous distance corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group.

[0273] In some embodiments, the first distance estimate and the second distance estimate are obtained based on the following method: obtaining the preliminary measurement distance corresponding to the third sensing signal group based on the third spectrogram and the maximum unambiguous distance corresponding to the third sensing signal group; determining at least one distance estimate corresponding to the third sensing signal group based on an integer K4 between a third threshold and a fourth threshold, the preliminary measurement distance corresponding to the third sensing signal group, and the maximum unambiguous distance corresponding to the third sensing signal group; determining K5 based on at least one distance estimate corresponding to the third sensing signal group, the preliminary measurement distance corresponding to the fourth sensing signal group, and the maximum unambiguous distance corresponding to the fourth sensing signal group; determining the first distance estimate based on K4 corresponding to K5, the preliminary measurement distance corresponding to the third sensing signal group, and the maximum unambiguous distance corresponding to the third sensing signal group; and determining the second distance estimate based on K5, the preliminary measurement distance corresponding to the fourth sensing signal group, and the maximum unambiguous distance corresponding to the fourth sensing signal group.

[0274] In some embodiments, the third threshold and the fourth threshold are determined based on at least one of the following parameters: the maximum unambiguous distance corresponding to a group of sensing signals with a signal interval of 1 in the frequency domain, and the actual distance range of the sensing target.

[0275] In some embodiments, the distance-related perception result includes: a distance measurement value for the perceived target, the distance measurement value being determined based on a distance estimate value corresponding to the minimum value among at least one distance estimate value corresponding to the third perception signal group, wherein each second energy difference value corresponds to a distance estimate value corresponding to the third perception signal group.

[0276] In some embodiments, the at least one second energy difference is obtained based on the following method: calculating the energy of the preliminary measurement distance corresponding to the third sensing signal group in the third spectrum to obtain a third energy value; determining at least one estimated value of the preliminary measurement distance corresponding to the fourth sensing signal group based on at least one distance estimate corresponding to the third sensing signal group, the maximum unambiguous distance corresponding to the fourth sensing signal group, and K6; wherein, K6 is determined based on the distance estimate corresponding to the third sensing signal group and the maximum unambiguous distance corresponding to the fourth sensing signal group; calculating the energy of at least one estimated value of the preliminary measurement distance corresponding to the fourth sensing signal group in the fourth spectrum to obtain at least one fourth energy value; and calculating the difference between the at least one fourth energy value and the third energy value to obtain the at least one second energy difference.

[0277] In some embodiments, the distance calculation resolution corresponding to the third sensing signal group is greater than the distance calculation resolution corresponding to the fourth sensing signal group, and the distance calculation resolution is determined based on the maximum unambiguous distance corresponding to the sensing signal group.

[0278] In some embodiments, the distance-related perception result includes at least one of the following: distance, time delay, absolute time delay, and relative time delay.

[0279] In some embodiments, the third sensing signal group and the fourth sensing signal group occupy one or more time domain units in the time domain, and the plurality of time domain units are arranged at equal intervals.

[0280] In some embodiments, the third spectrum is obtained based on any of the following methods: performing a Fourier transform on the third sensing signal group arranged on any time domain unit; averaging the three groups of third sensing signals arranged on at least two time domain units after performing a Fourier transform; or performing a two-dimensional Fourier transform on the three groups of third sensing signals arranged on at least two time domain units.

[0281] In some embodiments, when the sensing signal group includes at least three sensing signals, the at least three sensing signals included in the sensing signal group are arranged at equal intervals.

[0282] In some embodiments, the first node is a sensing and receiving node.

[0283] Please refer to Figure 27, which shows a block diagram of a sensing device provided in another embodiment of this application. This device has the functionality to implement the method example described above for the second node side. This functionality can be implemented in hardware or by hardware executing corresponding software. The device can be the second node described above, or it can be disposed within a second node. As shown in Figure 27, the device 2700 may include: a transmitting module 2710 and / or a processing module 2720.

[0284] The transmitting module 2710 is used to transmit a first sensing signal, and the processing module 2720 is used to configure the first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group. The first sensing signal is used to obtain a first sensing result, which is obtained based on at least two spectra, and each spectra is determined based on a sensing signal group.

[0285] In some embodiments, the at least two sensing signal groups include a first sensing signal group and a second sensing signal group, the first signal interval and the second signal interval are coprime, the first signal interval is the signal interval corresponding to the first sensing signal group in the time domain, and the second signal interval is the signal interval corresponding to the second sensing signal group in the time domain.

[0286] In some embodiments, the first sensing result includes a velocity-related sensing result, which is obtained based on a first spectrum and a second spectrum, wherein the first spectrum is determined based on the first sensing signal group and the second spectrum is determined based on the second sensing signal group.

[0287] In some embodiments, the velocity-related sensing result includes: a velocity measurement value for the sensed target, the velocity measurement value being determined based on a first velocity estimate and a second velocity estimate, the first velocity estimate being determined based on a first sensed signal group and a first spectrum, and the second velocity estimate being determined based on a second sensed signal group and a second spectrum.

[0288] In some embodiments, the speed measurement value is the average of the first speed estimate and the second speed estimate; or, if the speed calculation resolution corresponding to the first sensing signal group is greater than the speed calculation resolution corresponding to the second sensing signal group, the speed measurement value is the first speed estimate; if the speed calculation resolution corresponding to the second sensing signal group is greater than the speed calculation resolution corresponding to the first sensing signal group, the speed measurement value is the second speed estimate; wherein, the speed calculation resolution is determined based on the maximum unambiguous speed corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group.

[0289] In some embodiments, the first velocity estimate and the second velocity estimate are obtained based on the following method: obtaining a preliminary measured velocity corresponding to the first sensing signal group based on the first spectrum and the maximum unambiguous velocity corresponding to the first sensing signal group; determining at least one velocity estimate corresponding to the first sensing signal group based on an integer K1 between a first threshold and a second threshold, the preliminary measured velocity corresponding to the first sensing signal group, and the maximum unambiguous velocity corresponding to the first sensing signal group; determining K2 based on at least one velocity estimate corresponding to the first sensing signal group, the preliminary measured velocity corresponding to the second sensing signal group, and the maximum unambiguous velocity corresponding to the second sensing signal group; determining the first velocity estimate based on K1 corresponding to K2, the preliminary measured velocity corresponding to the first sensing signal group, and the maximum unambiguous velocity corresponding to the first sensing signal group; and determining the second velocity estimate based on K2, the preliminary measured velocity corresponding to the second sensing signal group, and the maximum unambiguous velocity corresponding to the second sensing signal group.

[0290] In some embodiments, the first threshold and the second threshold are determined based on at least one of the following parameters: the maximum unambiguous velocity corresponding to a group of sensing signals with a signal interval of 1 in the time domain, and the actual velocity range of the sensing target.

[0291] In some embodiments, the speed-related perception result includes: a speed measurement value for the perceived target, the speed measurement value being determined based on a speed estimate value corresponding to the minimum value among at least one speed estimate value corresponding to the first perception signal group and at least one first energy difference value, wherein each first energy difference value corresponds to a speed estimate value corresponding to the first perception signal group.

[0292] In some embodiments, the at least one first energy difference is obtained based on the following method: calculating the energy of the preliminary measurement velocity corresponding to the first sensing signal group in the first spectrum to obtain a first energy value; determining at least one estimated value of the preliminary measurement velocity corresponding to the second sensing signal group based on at least one velocity estimate corresponding to the first sensing signal group, the maximum unambiguous velocity corresponding to the second sensing signal group, and K3; wherein, K3 is determined based on the velocity estimate corresponding to the first sensing signal group and the maximum unambiguous velocity corresponding to the second sensing signal group; calculating the energy of at least one estimated value of the preliminary measurement velocity corresponding to the second sensing signal group in the second spectrum to obtain at least one second energy value; and calculating the difference between the at least one second energy value and the first energy value to obtain the at least one first energy difference.

[0293] In some embodiments, the velocity calculation resolution corresponding to the first sensing signal group is greater than the velocity calculation resolution corresponding to the second sensing signal group, and the velocity calculation resolution is determined based on the maximum unambiguous velocity corresponding to the sensing signal group.

[0294] In some embodiments, the velocity-related sensing results include at least one of the following: velocity, radial velocity, Doppler frequency, radial Doppler frequency, micro Doppler frequency, and radial micro Doppler frequency.

[0295] In some embodiments, the first sensing signal group and the second sensing signal group occupy one or more frequency domain units in the frequency domain, and the plurality of frequency domain units are arranged at equal intervals.

[0296] In some embodiments, the first spectrum is obtained based on any of the following methods: performing a Fourier transform on the first sensing signal group arranged on any frequency domain unit; averaging the first sensing signal group arranged on at least two frequency domain units after performing a Fourier transform; or performing a two-dimensional Fourier transform on the first sensing signal group arranged on at least two frequency domain units.

[0297] In some embodiments, the at least two sensing signal groups include a third sensing signal group and a fourth sensing signal group, the third signal interval and the fourth signal interval are coprime, the third signal interval is the signal interval corresponding to the third sensing signal group in the frequency domain, and the fourth signal interval is the signal interval corresponding to the fourth sensing signal group in the frequency domain.

[0298] In some embodiments, the first sensing result includes a distance-related sensing result, which is obtained based on a third spectrum and a fourth spectrum, wherein the third spectrum is a spectrum determined based on the third sensing signal group, and the fourth spectrum is a spectrum determined based on the fourth sensing signal group.

[0299] In some embodiments, the distance-related perception result includes: a distance measurement value for a perceived target, the distance measurement value being determined based on a first distance estimate and a second distance estimate, the first distance estimate being determined based on the third sensing signal group and the third spectrum, and the second distance estimate being determined based on the fourth sensing signal group and the fourth spectrum.

[0300] In some embodiments, the distance measurement value is the average of the first distance estimate and the second distance estimate; or, if the distance calculation resolution corresponding to the third sensing signal group is greater than the distance calculation resolution corresponding to the fourth sensing signal group, the distance measurement value is the first distance estimate; if the distance calculation resolution corresponding to the fourth sensing signal group is greater than the distance calculation resolution corresponding to the third sensing signal group, the distance measurement value is the second distance estimate; wherein, the distance calculation resolution is determined based on the maximum unambiguous distance corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group.

[0301] In some embodiments, the first distance estimate and the second distance estimate are obtained based on the following method: obtaining the preliminary measurement distance corresponding to the third sensing signal group based on the third spectrogram and the maximum unambiguous distance corresponding to the third sensing signal group; determining at least one distance estimate corresponding to the third sensing signal group based on an integer K4 between a third threshold and a fourth threshold, the preliminary measurement distance corresponding to the third sensing signal group, and the maximum unambiguous distance corresponding to the third sensing signal group; determining K5 based on at least one distance estimate corresponding to the third sensing signal group, the preliminary measurement distance corresponding to the fourth sensing signal group, and the maximum unambiguous distance corresponding to the fourth sensing signal group; determining the first distance estimate based on K4 corresponding to K5, the preliminary measurement distance corresponding to the third sensing signal group, and the maximum unambiguous distance corresponding to the third sensing signal group; and determining the second distance estimate based on K5, the preliminary measurement distance corresponding to the fourth sensing signal group, and the maximum unambiguous distance corresponding to the fourth sensing signal group.

[0302] In some embodiments, the third threshold and the fourth threshold are determined based on at least one of the following parameters: the maximum unambiguous distance corresponding to a group of sensing signals with a signal interval of 1 in the frequency domain, and the actual distance range of the sensing target.

[0303] In some embodiments, the distance-related perception result includes: a distance measurement value for the perceived target, the distance measurement value being determined based on a distance estimate value corresponding to the minimum value among at least one distance estimate value corresponding to the third perception signal group, wherein each second energy difference value corresponds to a distance estimate value corresponding to the third perception signal group.

[0304] In some embodiments, the at least one second energy difference is obtained based on the following method: calculating the energy of the preliminary measurement distance corresponding to the third sensing signal group in the third spectrum to obtain a third energy value; determining at least one estimated value of the preliminary measurement distance corresponding to the fourth sensing signal group based on at least one distance estimate corresponding to the third sensing signal group, the maximum unambiguous distance corresponding to the fourth sensing signal group, and K6; wherein, K6 is determined based on the distance estimate corresponding to the third sensing signal group and the maximum unambiguous distance corresponding to the fourth sensing signal group; calculating the energy of at least one estimated value of the preliminary measurement distance corresponding to the fourth sensing signal group in the fourth spectrum to obtain at least one fourth energy value; and calculating the difference between the at least one fourth energy value and the third energy value to obtain the at least one second energy difference.

[0305] In some embodiments, the distance calculation resolution corresponding to the third sensing signal group is greater than the distance calculation resolution corresponding to the fourth sensing signal group, and the distance calculation resolution is determined based on the maximum unambiguous distance corresponding to the sensing signal group.

[0306] In some embodiments, the distance-related perception result includes at least one of the following: distance, time delay, absolute time delay, and relative time delay.

[0307] In some embodiments, the third sensing signal group and the fourth sensing signal group occupy one or more time domain units in the time domain, and the plurality of time domain units are arranged at equal intervals.

[0308] In some embodiments, the third spectrum is obtained based on any of the following methods: performing a Fourier transform on the third sensing signal group arranged on any time domain unit; averaging the three groups of third sensing signals arranged on at least two time domain units after performing a Fourier transform; or performing a two-dimensional Fourier transform on the three groups of third sensing signals arranged on at least two time domain units.

[0309] In some embodiments, when the sensing signal group includes at least three sensing signals, the at least three sensing signals included in the sensing signal group are arranged at equal intervals.

[0310] In some embodiments, the second node is a sensing transmission node or a sensing management node.

[0311] It should be noted that the device provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0312] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0313] Please refer to Figure 28, which shows a schematic diagram of the structure of a communication device 2800 provided in one embodiment of this application. The communication device 2800 can be the first node or the second node described above, and can be used to execute the method steps in the above embodiments. The communication device 2800 can be a network device (such as a base station), a terminal device, a server, a core network element, a sensing information collector, etc. The communication device 2800 may include: a processor 2801, a transceiver 2802, and a memory 2803. The processor 2801 is used to implement various processing functions of the communication device 2800, such as implementing the functions of the above-mentioned processing modules, generating information to be sent, processing received information, controlling transmission and / or reception, etc. The transceiver 2802 is used to implement transmission and / or reception functions, such as implementing the functions of the above-mentioned transmission module and / or reception module.

[0314] The processor 2801 includes one or more processing cores, and the processor 2801 executes various functional applications and information processing by running software programs and modules.

[0315] The transceiver 2802 may include a receiver and a transmitter, for example, the receiver and transmitter may be implemented as the same wireless communication component, which may include a wireless communication chip and a radio frequency antenna.

[0316] The memory 2803 can be connected to the processor 2801 and the transceiver 2802.

[0317] The memory 2803 can be used to store a computer program executed by the processor, and the processor 2801 is used to execute the computer program to implement the various steps of the above method.

[0318] Furthermore, the memory 2803 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory, erasable programmable read-only memory, static on-demand memory, read-only memory, magnetic memory, flash memory, and programmable read-only memory.

[0319] In some embodiments, when the communication device 2800 is implemented as a first node, the processor 2801 is used to acquire a first sensing result based on a first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group. The first sensing result is acquired based on at least two spectra, and each spectra is determined based on a sensing signal group.

[0320] In some embodiments, when the communication device 2800 is implemented as a second node, the processor 2801 is used to configure the first sensing signal, and the transceiver 2802 is used to transmit the first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group. The first sensing signal is used to acquire a first sensing result, which is acquired based on at least two spectra, each spectra being determined based on a sensing signal group.

[0321] For details not described in the above embodiments, please refer to the descriptions in the above method embodiments, which will not be repeated here.

[0322] This application also provides a computer-readable storage medium storing a computer program, which is executed by the processor of a first node to implement the perception method executed by the first node.

[0323] This application also provides a computer-readable storage medium storing a computer program, which is executed by the processor of a second node to implement the perception method executed by the second node described above.

[0324] In some embodiments, the computer-readable storage medium may include ROM (Read-Only Memory), RAM (Random-Access Memory), SSD (Solid State Drives), or optical disc, etc. The random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0325] This application also provides a chip, which includes programmable logic circuits and / or program instructions. When the chip runs on a first node, it is used to implement the perception method executed by the first node.

[0326] This application also provides a chip, which includes programmable logic circuits and / or program instructions, and when the chip runs on a second node, it is used to implement the perception method executed by the second node.

[0327] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. The processor of the first node reads and executes the computer program from the computer-readable storage medium to implement the perception method executed by the first node described above.

[0328] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. The processor of the second node reads and executes the computer program from the computer-readable storage medium to implement the perception method executed by the second node described above.

[0329] It should be understood that the term "instruction" mentioned in the embodiments of this application can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0330] In the description of the embodiments of this application, the term "correspondence" may indicate that there is a direct or indirect correspondence between two things, or that there is an association between two things, or that there is a relationship of instruction and being instructed, configuration and being configured, etc.

[0331] In this article, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0332] Furthermore, the step numbers described herein are merely illustrative of one possible execution order between steps. In some other embodiments, the steps may not be executed in the order of their numbers, such as two steps with different numbers being executed simultaneously, or two steps with different numbers being executed in the reverse order of the illustration. This application does not limit this.

[0333] Those skilled in the art will recognize that the functions described in the embodiments of this application in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0334] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

A perception method characterized by, The method is executed by the first node, and the method includes: A first sensing result is obtained based on a first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group. The first sensing result is obtained based on at least two spectra, each of which is determined based on a set of sensing signals. The method of claim 1, wherein The at least two sensing signal groups include a first sensing signal group and a second sensing signal group, the first signal interval and the second signal interval are coprime, the first signal interval is the signal interval corresponding to the first sensing signal group in the time domain, and the second signal interval is the signal interval corresponding to the second sensing signal group in the time domain. The method according to claim 2, characterized in that The first sensing result includes velocity-related sensing results, which are obtained based on a first spectrum and a second spectrum. The first spectrum is determined based on the first sensing signal group, and the second spectrum is determined based on the second sensing signal group. The method according to claim 3, characterized in that The speed-related perception results include: speed measurements of the perceived target, the speed measurements being determined based on a first speed estimate and a second speed estimate, the first speed estimate being determined based on a first group of perceived signals and a first spectrum, and the second speed estimate being determined based on a second group of perceived signals and a second spectrum. The method according to claim 4, characterized in that, The speed measurement value is the average of the first speed estimate and the second speed estimate; or, When the velocity calculation resolution corresponding to the first sensing signal group is greater than the velocity calculation resolution corresponding to the second sensing signal group, the velocity measurement value is the first velocity estimate value; When the velocity calculation resolution corresponding to the second sensing signal group is greater than the velocity calculation resolution corresponding to the first sensing signal group, the velocity measurement value is the second velocity estimate; wherein, the velocity calculation resolution is determined based on the maximum unambiguous velocity corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group. The method according to claim 4 or 5, characterized in that The first velocity estimate and the second velocity estimate were obtained in the following manner: Based on the first spectrum and the maximum unambiguous velocity corresponding to the first sensing signal group, the preliminary measurement velocity corresponding to the first sensing signal group is obtained; Based on the integer K1 between the first threshold and the second threshold, the preliminary measured speed corresponding to the first sensing signal group, and the maximum unambiguous speed corresponding to the first sensing signal group, at least one speed estimate corresponding to the first sensing signal group is determined. K2 is determined based on at least one velocity estimate corresponding to the first sensing signal group, the preliminary measured velocity corresponding to the second sensing signal group, and the maximum unambiguous velocity corresponding to the second sensing signal group. The first speed estimate is determined based on K1 corresponding to K2, the preliminary measured speed corresponding to the first sensing signal group, and the maximum unambiguous speed corresponding to the first sensing signal group. The second speed estimate is determined based on K2, the preliminary measured speed corresponding to the second sensing signal group, and the maximum unambiguous speed corresponding to the second sensing signal group. The method according to claim 6, characterized in that The first threshold and the second threshold are determined based on at least one of the following parameters: the maximum unambiguous velocity corresponding to a group of sensing signals with a signal interval of 1 in the time domain, and the actual velocity range of the sensing target. The method according to claim 3, characterized in that The speed-related perception results include: a speed measurement value for the perceived target, the speed measurement value being determined based on the speed estimate value corresponding to the minimum value among at least one speed estimate value corresponding to the first perception signal group and at least one first energy difference value, wherein each first energy difference value corresponds to a speed estimate value corresponding to the first perception signal group. The method of claim 8, wherein The at least one first energy difference is obtained based on the following method: Calculate the energy of the preliminary measured velocity corresponding to the first sensing signal group in the first spectrum to obtain the first energy value; Based on at least one velocity estimate corresponding to the first sensing signal group, the maximum unambiguous velocity corresponding to the second sensing signal group, and K3, at least one estimate of the preliminary measured velocity corresponding to the second sensing signal group is determined; wherein, K3 is determined based on the velocity estimate corresponding to the first sensing signal group and the maximum unambiguous velocity corresponding to the second sensing signal group. Calculate at least one estimated value of the preliminary measured velocity corresponding to the second sensing signal group, and the energy in the second spectrum to obtain at least one second energy value; The difference between the at least one second energy value and the first energy value is calculated to obtain the at least one first energy difference. The method according to claim 8 or 9, characterized in that The velocity calculation resolution corresponding to the first sensing signal group is greater than The velocity calculation resolution corresponding to the second sensing signal group is determined based on the maximum unambiguous velocity corresponding to the sensing signal group. The method according to any one of claims 3 to 10, characterized in that The velocity-related sensing results include at least one of the following: velocity, radial velocity, Doppler frequency, radial Doppler frequency, micro Doppler frequency, and radial micro Doppler frequency. The method according to any one of claims 2 to 11, characterized in that The first sensing signal group and the second sensing signal group occupy one or more frequency domain units in the frequency domain, and the multiple frequency domain units are arranged at equal intervals. The method of claim 12, wherein The first spectrum was obtained based on any of the following methods: Perform a Fourier transform on the first sensing signal group arranged on any frequency domain unit; The average of the first sensing signal groups arranged in at least two frequency domain units is then taken after performing a Fourier transform. Perform a two-dimensional Fourier transform on the first sensing signal group arranged on at least two frequency domain units. The method according to any one of claims 1 to 13, characterized in that The at least two sensing signal groups include a third sensing signal group and a fourth sensing signal group, the third signal interval and the fourth signal interval are coprime, the third signal interval is the signal interval corresponding to the third sensing signal group in the frequency domain, and the fourth signal interval is the signal interval corresponding to the fourth sensing signal group in the frequency domain. The method of claim 14, wherein The first perception result includes a distance-related perception result, which is obtained based on a third spectrum and a fourth spectrum. The third spectrum is determined based on the third perception signal group, and the fourth spectrum is determined based on the fourth perception signal group. The method of claim 15, wherein The distance-related perception results include: distance measurements for the perceived target, the distance measurements being determined based on a first distance estimate and a second distance estimate, the first distance estimate being determined based on the third perception signal group and the third spectrum, and the second distance estimate being determined based on the fourth perception signal group and the fourth spectrum. The method according to claim 16, characterized in that, The distance measurement value is the average of the first distance estimate and the second distance estimate; or, When the distance calculation resolution corresponding to the third sensing signal group is greater than the distance calculation resolution corresponding to the fourth sensing signal group, the distance measurement value is the first distance estimate value; When the distance calculation resolution corresponding to the fourth sensing signal group is greater than the distance calculation resolution corresponding to the third sensing signal group, the distance measurement value is the second distance estimate; wherein, the distance calculation resolution is determined based on the maximum unambiguous distance corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group. The method according to claim 16 or 17, characterized in that The first distance estimate and the second distance estimate were obtained in the following manner: Based on the third spectrum and the maximum unambiguous distance corresponding to the third sensing signal group, the preliminary measurement distance corresponding to the third sensing signal group is obtained; Based on the integer K4 between the third threshold and the fourth threshold, the preliminary measurement distance corresponding to the third sensing signal group, and the maximum unambiguous distance corresponding to the third sensing signal group, at least one distance estimate corresponding to the third sensing signal group is determined. K5 is determined based on at least one distance estimate corresponding to the third sensing signal group, the preliminary measured distance corresponding to the fourth sensing signal group, and the maximum unambiguous distance corresponding to the fourth sensing signal group; The first distance estimate is determined based on K4 corresponding to K5, the preliminary measurement distance corresponding to the third sensing signal group, and the maximum unambiguous distance corresponding to the third sensing signal group. The second distance estimate is determined based on K5, the preliminary measurement distance corresponding to the fourth sensing signal group, and the maximum unambiguous distance corresponding to the fourth sensing signal group. The method of claim 18, wherein The third threshold and the fourth threshold are determined based on at least one of the following parameters: the maximum unambiguous distance corresponding to a group of sensing signals with a signal interval of 1 in the frequency domain, and the actual distance range of the sensing target. The method of claim 15, wherein The distance-related perception results include: a distance measurement value for the perceived target, the distance measurement value being determined based on the distance estimate value corresponding to the minimum value among at least one distance estimate value corresponding to the third perception signal group and at least one second energy difference value, wherein each second energy difference value corresponds to a distance estimate value corresponding to the third perception signal group. The method of claim 20, wherein The at least one second energy difference is obtained based on the following method: Calculate the energy of the preliminary measurement distance corresponding to the third sensing signal group in the third spectrum to obtain the third energy value; Based on at least one distance estimate corresponding to the third sensing signal group, the maximum unambiguous distance corresponding to the fourth sensing signal group, and K6, at least one estimate of the preliminary measurement distance corresponding to the fourth sensing signal group is determined; wherein, K6 is determined based on the distance estimate corresponding to the third sensing signal group and the maximum unambiguous distance corresponding to the fourth sensing signal group. Calculate at least one estimate of the preliminary measurement distance corresponding to the fourth sensing signal group, and obtain the energy in the fourth spectrum. At least one fourth energy value; The difference between the at least one fourth energy value and the third energy value is calculated to obtain the at least one second energy difference. The method according to claim 20 or 21, characterized in that The distance calculation resolution corresponding to the third sensing signal group is greater than that corresponding to the fourth sensing signal group, and the distance calculation resolution is determined based on the maximum unambiguous distance corresponding to the sensing signal group. The method according to any one of claims 15 to 22, characterized in that The distance-related perception results include at least one of the following: distance, time delay, absolute time delay, and relative time delay. The method according to any one of claims 14 to 23, characterized in that The third sensing signal group and the fourth sensing signal group occupy one or more time domain units in the time domain, and the multiple time domain units are arranged at equal intervals. The method of claim 24, wherein The third spectrum was obtained based on any of the following methods: Perform a Fourier transform on the third sensing signal group arranged in any time domain unit; The average of the third sensing signal group arranged in at least two time-domain units is then taken after performing a Fourier transform. Perform a two-dimensional Fourier transform on the third sensing signal group arranged in at least two time-domain units. The method according to any one of claims 1 to 25, characterized in that When the sensing signal group includes at least three sensing signals, the at least three sensing signals included in the sensing signal group are arranged at equal intervals. The method according to any one of claims 1 to 26, characterized in that The first node is a sensing and receiving node. A perception method characterized by, The method is executed by the second node, and the method includes: Send and / or configure a first sensing signal, the first sensing signal including at least two sensing signal groups, each sensing signal group including at least two sensing signals, wherein at least two of the at least two sensing signal groups have signal intervals that are coprime, and the signal intervals corresponding to the sensing signal groups are the intervals between two adjacent sensing signals included in the sensing signal groups; The first sensing signal is used to obtain a first sensing result, which is obtained based on at least two spectra, each of which is determined based on a group of sensing signals. The method of claim 28, wherein The at least two sensing signal groups include a first sensing signal group and a second sensing signal group, the first signal interval and the second signal interval are coprime, the first signal interval is the signal interval corresponding to the first sensing signal group in the time domain, and the second signal interval is the signal interval corresponding to the second sensing signal group in the time domain. The method of claim 29, wherein The first sensing result includes velocity-related sensing results, which are obtained based on a first spectrum and a second spectrum. The first spectrum is determined based on the first sensing signal group, and the second spectrum is determined based on the second sensing signal group. The method of claim 30, wherein The speed-related perception results include: speed measurements of the perceived target, the speed measurements being determined based on a first speed estimate and a second speed estimate, the first speed estimate being determined based on a first group of perceived signals and a first spectrum, and the second speed estimate being determined based on a second group of perceived signals and a second spectrum. The method according to claim 31, characterized in that, The speed measurement value is the average of the first speed estimate and the second speed estimate; or, When the velocity calculation resolution corresponding to the first sensing signal group is greater than the velocity calculation resolution corresponding to the second sensing signal group, the velocity measurement value is the first velocity estimate value; When the velocity calculation resolution corresponding to the second sensing signal group is greater than the velocity calculation resolution corresponding to the first sensing signal group, the velocity measurement value is the second velocity estimate; wherein, the velocity calculation resolution is determined based on the maximum unambiguous velocity corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group. The method of claim 30, wherein The speed-related perception results include: a speed measurement value for the perceived target, the speed measurement value being determined based on the speed estimate value corresponding to the minimum value among at least one speed estimate value corresponding to the first perception signal group and at least one first energy difference value, wherein each first energy difference value corresponds to a speed estimate value corresponding to the first perception signal group. The method of claim 33, wherein The velocity calculation resolution corresponding to the first sensing signal group is greater than the velocity calculation resolution corresponding to the second sensing signal group, and the velocity calculation resolution is determined based on the maximum unambiguous velocity corresponding to the sensing signal group. The method according to any one of claims 30 to 34, characterized in that The velocity-related sensing results include at least one of the following: velocity, radial velocity, Doppler frequency, radial Doppler frequency, micro Doppler frequency, and radial micro Doppler frequency. The method according to any one of claims 29 to 35, characterized in that The first sensing signal group and the second sensing signal group occupy one or more frequency domain units in the frequency domain, and the multiple frequency domain units are arranged at equal intervals. The method of claim 36, wherein The first spectrum was obtained based on any of the following methods: Perform a Fourier transform on the first sensing signal group arranged on any frequency domain unit; The average of the first sensing signal groups arranged on at least two frequency domain units is then taken after performing a Fourier transform. Perform a two-dimensional Fourier transform on the first sensing signal group arranged on at least two frequency domain units. The method according to any one of claims 28 to 37, characterized in that The at least two sensing signal groups include a third sensing signal group and a fourth sensing signal group, the third signal interval and the fourth signal interval are coprime, the third signal interval is the signal interval corresponding to the third sensing signal group in the frequency domain, and the fourth signal interval is the signal interval corresponding to the fourth sensing signal group in the frequency domain. The method of claim 38, wherein The first perception result includes a distance-related perception result, which is obtained based on a third spectrum and a fourth spectrum. The third spectrum is determined based on the third perception signal group, and the fourth spectrum is determined based on the fourth perception signal group. The method of claim 39, wherein The distance-related perception results include: distance measurements for the perceived target, the distance measurements being determined based on a first distance estimate and a second distance estimate, the first distance estimate being determined based on the third perception signal group and the third spectrum, and the second distance estimate being determined based on the fourth perception signal group and the fourth spectrum. The method according to claim 40, characterized in that, The distance measurement value is the average of the first distance estimate and the second distance estimate; or, When the distance calculation resolution corresponding to the third sensing signal group is greater than the distance calculation resolution corresponding to the fourth sensing signal group, the distance measurement value is the first distance estimate value; When the distance calculation resolution corresponding to the fourth sensing signal group is greater than the distance calculation resolution corresponding to the third sensing signal group, the distance measurement value is the second distance estimate; wherein, the distance calculation resolution is determined based on the maximum unambiguous distance corresponding to the sensing signal group and the number of Fourier transform points corresponding to the sensing signal group. The method of claim 39, wherein The distance-related perception results include: a distance measurement value for the perceived target, the distance measurement value being determined based on the distance estimate value corresponding to the minimum value among at least one distance estimate value corresponding to the third perception signal group and at least one second energy difference value, wherein each second energy difference value corresponds to a distance estimate value corresponding to the third perception signal group. The method of claim 42, wherein The distance calculation resolution corresponding to the third sensing signal group is greater than that corresponding to the fourth sensing signal group, and the distance calculation resolution is determined based on the maximum unambiguous distance corresponding to the sensing signal group. The method according to any one of claims 39 to 43, characterized in that The distance-related perception results include at least one of the following: distance, time delay, absolute time delay, and relative time delay. The method according to any one of claims 38 to 44, characterized in that The third sensing signal group and the fourth sensing signal group occupy one or more time domain units in the time domain, and the multiple time domain units are arranged at equal intervals. The method of claim 45, wherein The third spectrum was obtained based on any of the following methods: Perform a Fourier transform on the third sensing signal group arranged in any time domain unit; The average of the third sensing signal group arranged in at least two time-domain units is then taken after performing a Fourier transform. Perform a two-dimensional Fourier transform on the third sensing signal group arranged in at least two time-domain units. The method according to any one of claims 28 to 46, characterized in that When the sensing signal group includes at least three sensing signals, the at least three sensing signals included in the sensing signal group are arranged at equal intervals. The method according to any one of claims 28 to 47, characterized in that The second node is either a sensing transmission node or a sensing management node. A perception device characterized by, The device includes: The processing module is used to obtain a first sensing result based on a first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group. The first sensing result is obtained based on at least two spectra, each of which is determined based on a set of sensing signals. A perception device characterized by, The device includes: a transmitting module and / or a processing module; The transmitting module is used to transmit a first sensing signal, and the processing module is used to configure the first sensing signal. The first sensing signal includes at least two sensing signal groups, and each sensing signal group includes at least two sensing signals. At least two of the at least two sensing signal groups have coprime signal intervals, and the signal intervals corresponding to the sensing signal groups are the intervals between two adjacent sensing signals included in the sensing signal group. The first sensing signal is used to obtain a first sensing result, which is obtained based on at least two spectra. Each spectrum is determined based on a set of sensing signals. A communication device characterized by comprising: The communication device includes a processor and a memory, the memory storing a computer program, the processor executing the computer program to implement the method as claimed in any one of claims 1 to 27, or to implement the method as claimed in any one of claims 28 to 48. A computer-readable storage medium, characterized by, The storage medium stores a computer program that is executed by a processor to implement the method as described in any one of claims 1 to 27, or to implement the method as described in any one of claims 28 to 48. A chip characterized by The chip includes programmable logic circuitry and / or program instructions, which, when the chip is running, are used to implement the method as described in any one of claims 1 to 27, or to implement the method as described in any one of claims 28 to 48. A computer program product, characterized in that The computer program product includes computer instructions stored in a computer-readable storage medium, which a processor reads from and executes to implement the method as claimed in any one of claims 1 to 27, or the method as claimed in any one of claims 28 to 48.

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