Sensing path identification method and apparatus, and electronic device

Abstract

The present application is applied to the technical field of wireless communications, and provides a sensing path identification method and apparatus, and an electronic device. The method comprises: on the basis of measurement information corresponding to each of N echo signals, determining first path identifiers of N sensing paths corresponding to the N echo signals; and determining second path identifiers of the N sensing paths, wherein when a sensing path is an LOS path, the second path identifier is used for indicating an object type of a first object on the sensing path, and when a sensing path is an NLOS path, the second path identifier is used for indicating an object type of a second object and an object type of a third object on the sensing path, the second object being located between a signal transmitting end and the third object, the third object being located between the second object and a signal receiving end, and the object type comprising a target or an environment object.

Description

A method, apparatus and electronic device for path recognition

[0001] Cross-reference to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202411793999.X, filed in China on December 09, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of wireless communication technology, and in particular to a method, apparatus and electronic device for sensing path identification. Background Technology

[0004] Sensing is one of the new capabilities of 6th Generation (6G) mobile communication systems, and can be divided into independent sensing and cooperative sensing. In cooperative sensing, the line-of-sight (LOS) path refers to the direct transmission of the sensing signal between the signal transmitter and the target, or between the target and the signal receiver, without reflection / scattering / refraction / diffraction caused by surrounding objects. In contrast, the non-line-of-sight (NLOS) path in cooperative sensing refers to the presence of environmental objects such as buildings and trees between the signal transmitter and the target, or between the target and the signal receiver, causing the sensing signal to be reflected / scattered / refractive / diffused by these environmental objects in addition to reflection from the target.

[0005] Related technologies primarily utilize the LOS (Low-of-Sight) path for sensing, assuming that the paths between the signal transmitter and the target, and between the target and the signal receiver, are all LOS paths. When multipath propagation exists, the first path of arrival (LOS) or the path with the strongest received power is often identified as the LOS path. However, since the sensing signal needs to be reflected by the target, the path containing the sensing signal is often not the strongest path or the first path of arrival. Therefore, the LOS path determined using related technologies may not be a LOS path containing the target, resulting in low accuracy of the sensing path identification method. Summary of the Invention

[0006] This disclosure provides a path recognition method, apparatus, and electronic device to address the problem of low accuracy in existing path recognition methods.

[0007] To solve the above-mentioned technical problems, this disclosure is implemented as follows:

[0008] In a first aspect, embodiments of this disclosure provide a path recognition method, which includes:

[0009] Based on the measurement information corresponding to each of the N echo signals, a first path identifier is determined for the N sensing paths corresponding to the N echo signals. The first path identifier is used to indicate whether the sensing path is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path. The measurement information includes the angle of arrival, departure angle, and time delay of the echo signal, where N is a positive integer.

[0010] A second path identifier is determined for the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between a signal transmitter and a signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object types of a second object and a third object on the sensing path, the second object being located between the signal transmitter and the third object, and the third object being located between the second object and the signal receiver, the object type including a target or an environmental object.

[0011] Optionally, the N echo signals include a first echo signal, and the step of determining the first path identifier of the N sensing paths corresponding to the N echo signals based on the measurement information corresponding to each of the N echo signals includes:

[0012] The first distance is calculated based on the angle of arrival and angle of departure of the first echo signal, and the distance between the signal transmitting end and the signal receiving end;

[0013] The second distance is calculated based on the time delay corresponding to the first echo signal;

[0014] When the first distance and the second distance are equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the first value, and the first value is used to indicate that the sensing path is a LOS path;

[0015] If the first distance and the second distance are not equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the second value, and the second value is used to indicate that the sensing path is an NLOS path.

[0016] Optionally, the N sensing paths include a first sensing path, which is a LOS path, and the step of determining the second path identifier of the N sensing paths includes:

[0017] The position of the first object on the first sensing path is calculated based on the angle of arrival and angle of departure of the echo signal corresponding to the first sensing path, as well as the distance between the signal transmitting end and the signal receiving end.

[0018] Based on the comparison results between the position of the first object and the position of the environmental object, a second path identifier for the first perception path is determined.

[0019] Optionally, determining the second path identifier of the first perception path based on the comparison result between the position of the first object and the position of the environmental object includes at least one of the following:

[0020] When the position of the first object is the same as the position of the environmental object, the second path identifier of the first perception path is determined to be a third value, and the third value is used to indicate that the first perception path is a single-target path.

[0021] When the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, which is used to indicate that the first perception path is a single environmental object path.

[0022] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the step of determining the second path identifier of the N sensing paths includes:

[0023] When the second sensing path corresponds to a first relation LOS path and a second relation LOS path, the positions of the second object and the third object on the second sensing path are determined to be the positions of the first object on the first relation LOS path and the positions of the first object on the second relation LOS path, respectively. The first relation LOS path is the LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path, and the second relation LOS path is the LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path.

[0024] Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

[0025] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the step of determining the second path identifier of the N sensing paths includes:

[0026] When the second sensing path corresponds to a first relation LOS path or a second relation LOS path, the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path is determined as the position of the fourth object on the second sensing path. The fourth object is one of the second object and the third object. The first relation LOS path is a LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path. The second relation LOS path is a LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path.

[0027] Based on the location of the fourth object and the measurement information of the echo signal corresponding to the second sensing path, determine the location of the second object and the third object other than the fourth object;

[0028] Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

[0029] Optionally, determining the second path identifier of the second perception path based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, includes at least one of the following:

[0030] When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a fifth value. The fifth value is used to indicate that the first segment path of the second perception path is a LOS path and the second segment path is an NLOS path.

[0031] When the position of the second object is the same as the position of the environmental object, and the position of the third object is not the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a sixth value. The sixth value is used to indicate that the first segment path of the second perception path is an NLOS path and the second segment path is a LOS path.

[0032] When the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, the second path identifier of the second perception path is determined to be a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path;

[0033] When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be the eighth value, which is used to indicate that the second perception path is a dual environmental object path.

[0034] Optionally, after determining the second path identifier of the N sensing paths, the method further includes:

[0035] Count the total number of targets on the N sensing paths;

[0036] Based on the comparison between the total number of targets and the number of targets to be measured, the resolution adjustment flag of the signal transmitting end is determined.

[0037] Secondly, embodiments of this disclosure also provide a path recognition device, which includes:

[0038] The first determining module is used to determine the first path identifier of the N sensing paths corresponding to the N echo signals based on the measurement information corresponding to each of the N echo signals, wherein the measurement information includes the angle of arrival, departure angle and time delay of the echo signal, and N is a positive integer;

[0039] The second determining module is used to determine the second path identifier of the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between a signal transmitter and a signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object type of a second object and the object type of a third object on the sensing path, the second object being located between the signal transmitter and the third object, the third object being located between the second object and the signal receiver, and the object type including a target or an environmental object.

[0040] Optionally, the N echo signals include a first echo signal, and the first determining module includes:

[0041] The first calculation unit is used to calculate the first distance based on the angle of arrival and departure angle corresponding to the first echo signal, and the distance between the signal transmitting end and the signal receiving end;

[0042] The second calculation unit is used to calculate the second distance based on the time delay corresponding to the first echo signal;

[0043] The first determining unit is configured to determine a first path identifier of the sensing path corresponding to the first echo signal as a first value when the first distance is equal to the second distance, and the first value is used to indicate that the sensing path is a LOS path.

[0044] The second determining unit is used to determine a first path identifier of the sensing path corresponding to the first echo signal as a second value when the first distance and the second distance are not equal, and the second value is used to indicate that the sensing path is an NLOS path.

[0045] Optionally, the N sensing paths include a first sensing path, which is a LOS path, and the second determining module includes:

[0046] The third calculation unit is used to calculate the position of the first object on the first sensing path based on the angle of arrival and departure angle of the echo signal corresponding to the first sensing path, and the distance between the signal transmitting end and the signal receiving end.

[0047] The third determining unit is used to determine the second path identifier of the first perception path based on the comparison result between the position of the first object and the position of the environmental object.

[0048] Optionally, the third determining unit includes at least one of the following:

[0049] The first determining subunit is configured to determine the second path identifier of the first sensing path as a third value when the position of the first object is the same as the position of the environmental object, wherein the third value is used to indicate that the first sensing path is a single-target path.

[0050] The second determining subunit is used to determine the second path identifier of the first sensing path as a fourth value when the position of the first object is different from the position of the environmental object. The fourth value is used to indicate that the first sensing path is a single environmental object path.

[0051] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the second determining module includes:

[0052] The fourth determining unit is used to determine, when the second sensing path corresponds to a first relational LOS path and a second relational LOS path, the positions of the second object and the third object on the second sensing path are respectively the positions of the first object on the first relational LOS path and the positions of the first object on the second relational LOS path, wherein the first relational LOS path is the LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path, and the second relational LOS path is the LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path;

[0053] The fifth determining unit is used to determine the second path identifier of the second perception path based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object.

[0054] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the second determining module includes:

[0055] The sixth determining unit is used to determine, when the second sensing path corresponds to a first relation LOS path or a second relation LOS path, the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path is the position of the fourth object on the second sensing path, wherein the fourth object is one of the second object and the third object, wherein the first relation LOS path is a LOS path whose departure angle of the echo signal corresponding to it is the same as the departure angle of the echo signal corresponding to the second sensing path, and the second relation LOS path is a LOS path whose arrival angle of the echo signal corresponding to it is the same as the arrival angle of the echo signal corresponding to the second sensing path;

[0056] The seventh determining unit is used to determine the position of the second object and the third object other than the fourth object based on the position of the fourth object and the measurement information of the echo signal corresponding to the second sensing path;

[0057] The eighth determining unit is used to determine the second path identifier of the second perception path based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object.

[0058] Optionally, the eighth determining unit includes at least one of the following:

[0059] The third determining subunit is used to determine the second path identifier of the second perception path as a fifth value when the position of the second object is different from the position of the environmental object and the position of the third object is the same as the position of the environmental object. The fifth value is used to indicate that the first segment path of the second perception path is a LOS path and the second segment path is an NLOS path.

[0060] The fourth determining subunit is used to determine the second path identifier of the second perception path as a sixth value when the position of the second object is the same as the position of the environmental object and the position of the third object is not the same as the position of the environmental object. The sixth value is used to indicate that the first segment path of the second perception path is an NLOS path and the second segment path is a LOS path.

[0061] The fifth determining subunit is used to determine the second path identifier of the second perception path as a seventh value when the position of the second object is different from the position of the environmental object and the position of the third object is different from the position of the environmental object. The seventh value is used to indicate that the second perception path is a dual-target path.

[0062] The sixth determining subunit is used to determine the second path identifier of the second sensing path as an eighth value when the position of the second object is the same as the position of the environmental object and the position of the third object is the same as the position of the environmental object. The eighth value is used to indicate that the second sensing path is a dual environmental object path.

[0063] Optionally, the device further includes:

[0064] The first statistics module is used to count the total number of targets on the N sensing paths;

[0065] The third determining module is used to determine the resolution adjustment flag of the signal transmitting end based on the comparison result between the total number of the targets and the number of targets to be measured.

[0066] Thirdly, this disclosure also provides an electronic device, the electronic device including a processor, the processor being used for:

[0067] Based on the measurement information corresponding to each of the N echo signals, the first path identifier of the N sensing paths corresponding to the N echo signals is determined, wherein the measurement information includes the angle of arrival, departure angle and time delay of the echo signal, and N is a positive integer;

[0068] A second path identifier is determined for the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between a signal transmitter and a signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object types of a second object and a third object on the sensing path, the second object being located between the signal transmitter and the third object, and the third object being located between the second object and the signal receiver, the object type including a target or an environmental object.

[0069] Optionally, the N echo signals include a first echo signal, and the processor is specifically used for:

[0070] The first distance is calculated based on the angle of arrival and angle of departure of the first echo signal, and the distance between the signal transmitting end and the signal receiving end;

[0071] The second distance is calculated based on the time delay corresponding to the first echo signal;

[0072] When the first distance and the second distance are equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the first value, and the first value is used to indicate that the sensing path is a LOS path;

[0073] If the first distance and the second distance are not equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the second value, and the second value is used to indicate that the sensing path is an NLOS path.

[0074] Optionally, the N sensing paths include a first sensing path, which is a LOS path, and the processor is specifically used for:

[0075] The position of the first object on the first sensing path is calculated based on the angle of arrival and angle of departure of the echo signal corresponding to the first sensing path, as well as the distance between the signal transmitting end and the signal receiving end.

[0076] Based on the comparison results between the position of the first object and the position of the environmental object, a second path identifier for the first perception path is determined.

[0077] Optionally, the processor is specifically used for:

[0078] When the position of the first object is the same as the position of the environmental object, the second path identifier of the first perception path is determined to be a third value, and the third value is used to indicate that the first perception path is a single-target path.

[0079] When the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, which is used to indicate that the first perception path is a single environmental object path.

[0080] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the processor is specifically used for:

[0081] When the second sensing path corresponds to a first relation LOS path and a second relation LOS path, the positions of the second object and the third object on the second sensing path are determined to be the positions of the first object on the first relation LOS path and the positions of the first object on the second relation LOS path, respectively. The first relation LOS path is the LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path, and the second relation LOS path is the LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path.

[0082] Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

[0083] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the processor is specifically used for:

[0084] When the second sensing path corresponds to a first relation LOS path or a second relation LOS path, the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path is determined as the position of the fourth object on the second sensing path. The fourth object is one of the second object and the third object. The first relation LOS path is a LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path. The second relation LOS path is a LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path.

[0085] Based on the location of the fourth object and the measurement information of the echo signal corresponding to the second sensing path, determine the location of the second object and the third object other than the fourth object;

[0086] Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

[0087] Optionally, the processor is specifically used for:

[0088] When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a fifth value. The fifth value is used to indicate that the first segment path of the second perception path is a LOS path and the second segment path is an NLOS path.

[0089] When the position of the second object is the same as the position of the environmental object, and the position of the third object is not the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a sixth value. The sixth value is used to indicate that the first segment path of the second perception path is an NLOS path and the second segment path is a LOS path.

[0090] When the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, the second path identifier of the second perception path is determined to be a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path;

[0091] When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be the eighth value, which is used to indicate that the second perception path is a dual environmental object path.

[0092] Optionally, the processor is further configured to:

[0093] Count the total number of targets on the N sensing paths;

[0094] Based on the comparison between the total number of targets and the number of targets to be measured, the resolution adjustment flag of the signal transmitting end is determined.

[0095] Fourthly, embodiments of this disclosure also provide an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the above-described perceptual path recognition method.

[0096] Fifthly, embodiments of this disclosure also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described perceptual path recognition method.

[0097] In a sixth aspect, a computer program product is provided, including computer instructions that, when executed by a processor, implement the steps of the perceptual path recognition method as described in the first aspect.

[0098] The sensing path identification method of this disclosure includes determining a first path identifier for N sensing paths corresponding to the N echo signals based on measurement information corresponding to each of the N echo signals, wherein the measurement information includes the angle of arrival, departure angle, and time delay of the echo signals, and N is a positive integer; and determining a second path identifier for the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between a signal transmitter and a signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object types of a second object and a third object on the sensing path, the second object being located between the signal transmitter and the third object, and the third object being located between the second object and the signal receiver, the object type including a target or an environmental object. This method determines the first path identifier for the N sensing paths corresponding to the N echo signals based on measurement information corresponding to each of the N echo signals. Furthermore, when the perceived path is a LOS path, by determining the second path identifier of the LOS path, it can be determined whether the LOS path contains a target. When the perceived path is an NLOS path, by determining the second path identifier of the NLOS path, it can be determined the type of two objects on the NLOS path. Based on the type of two objects on the NLOS path, the type of each segment of the NLOS path can be determined. Therefore, this method improves the accuracy of perceived path recognition. Attached Figure Description

[0099] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0100] Figure 1 is one of the schematic diagrams of a collaborative sensing scenario provided in an embodiment of this disclosure;

[0101] Figure 2 is a schematic diagram of a sensing channel modeling provided in an embodiment of this disclosure;

[0102] Figure 3 is a flowchart of one of the perceptual path recognition methods provided in the embodiments of this disclosure;

[0103] Figure 4 is a second flowchart of a path recognition method provided in an embodiment of this disclosure;

[0104] Figure 5 is a second schematic diagram of a collaborative sensing scenario provided in an embodiment of this disclosure;

[0105] Figure 6 is a structural diagram of a path recognition device provided in an embodiment of the present disclosure;

[0106] Figure 7 is a structural diagram of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0107] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0108] To further understand the technical solutions of the various embodiments of this disclosure, the technical background of the application of the embodiments of this disclosure will be introduced first.

[0109] Sensing is one of the new capabilities of 6th Generation (6G) mobile communication technology, and it can be divided into independent sensing and cooperative sensing. Cooperative sensing refers to at least two base stations working together to complete sensing, with the transmitting and receiving ends of the sensing signals not being co-located. It has advantages such as low duplex requirements and avoidance of self-interference.

[0110] In collaborative sensing, line-of-sight (LOS) transmission refers to the direct transmission of sensing signals between the signal transmitter and the target, or between the target and the signal receiver, without reflection / scattering / refraction / diffraction caused by surrounding environmental objects, as shown in Figure 1(a). Non-line-of-sight (NLOS) transmission, on the other hand, refers to the presence of environmental objects such as buildings and trees between the signal transmitter and the target, or between the target and the signal receiver, causing the sensing signal to be reflected / scattered / refraction / diffraction by environmental objects in addition to being reflected by the target, as shown in Figure 1(b). Besides LOS and NLOS transmission, sensing signals may also encounter walls or other obstacles during transmission, causing the sensing signal to be completely blocked and unable to reach the signal receiver, as shown in Figure 1(c).

[0111] The NLOS problem urgently needs to be solved for the following three reasons:

[0112] (1) High probability of NLOS: According to the LOS probability calculation method in the 3rd Generation Partnership Project (3GPP) Technical Report (TR) 38.901, the LOS probability decreases exponentially with increasing distance after the distance exceeds a certain threshold. For example, in the Urban Macro (UMa) scenario, the LOS probability is only 34.77% when the target is 100m away from the base station.

[0113] (2) NLOS severely weakens sensing performance: Compared with LOS path, the signal delay measured by the signal receiver will increase and the angle will also change significantly, causing a large sensing error.

[0114] (3) NLOS exacerbates path loss: Each time the sensing signal undergoes reflection / scattering / diffraction, the signal power will be attenuated. Where R is the distance between two adjacent target / environment objects, and σ is the radar cross section (RCS) of the target / environment object. Therefore, in practical applications, it is generally believed that when the number of reflections experienced by the sensing signal is higher than two hops, the signal power will be greatly reduced, making it difficult for the signal receiver to receive and process it.

[0115] During the standardization process of Integrated Sensing and Communications (ISAC) channel modeling in 3GPP R19, the following consensus was reached: the sensing channel model will be established as H... ISAC =H target +H background As shown in Figure 2. Referring to Figure 2, there are two main types of objects that cause NLOS propagation. One type is "B" (background), which represents random spatial clutter unrelated to the target and can be eliminated using clutter suppression techniques. The other type is "E" (environment object), which represents environmental objects of similar size to the target, or strong environmental objects such as walls and the ground. The NLOS propagation caused by these objects will have a significant impact on target location estimation.

[0116] Related technologies primarily utilize the LOS (Low-of-Sight) path for sensing, assuming that the paths between the signal transmitter and the target, and between the target and the signal receiver, are all LOS paths. When multipath propagation exists, the first path of arrival (LOS) or the path with the strongest received power is often identified as the LOS path. However, since the sensing signal needs to be reflected by the target, the path containing the sensing signal is often not the strongest path or the first path of arrival. Therefore, the LOS path determined using related technologies may not be a LOS path containing the target, resulting in low accuracy of the sensing path identification method.

[0117] To address the aforementioned technical problems, this disclosure provides a path recognition method, the prerequisites of which are as follows:

[0118] (1) The signal transmitter and the signal receiver have formed a cooperative node cluster (the distance d0 between the signal transmitter and the signal receiver is known, and the attitude angles of the signal transmitter and the signal receiver are known).

[0119] (2) The sensing target does not participate in the sensing process. That is, the sensing target does not participate in the signal transmission, reception, and processing process;

[0120] (3) The signal receiver can use clutter suppression to filter out clutter (B) signals in the environment. The path identification and indication methods in the existing 3GPP positioning protocol can be reused for NLOS paths caused by clutter (B).

[0121] (4) This disclosure is primarily directed to the target (T) and the environmental object (E). The signal transmitter, signal receiver, or sensing server has obtained the position of the environmental object (E) through environmental reconstruction performed during idle time.

[0122] (5) The perceived signal undergoes at most two hops of reflection / scattering / refraction / diffraction.

[0123] Referring to Figure 3, which is a flowchart of the perceptual path recognition method provided in this embodiment of the present disclosure, the method includes the following steps:

[0124] Step 101: Based on the measurement information corresponding to each of the N echo signals, determine the first path identifier of the N sensing paths corresponding to the N echo signals, wherein the first path identifier is used to indicate whether the sensing path is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path, and the measurement information includes the angle of arrival, departure angle and time delay of the echo signal, wherein N is a positive integer;

[0125] In this step, the signal transmitter sends a sensing signal. After being reflected / refracted / diffused by N targets and / or environmental objects, the sensing signal produces N echoes that are received by the signal receiver. For each of the N received echo signals, the signal receiver performs clutter suppression and then measures the signal to obtain measurement information corresponding to each echo signal. The measurement information for each echo signal includes its angle of arrival, departure angle, and time delay, as well as its received power.

[0126] The first distance is calculated based on the angle of arrival and departure of the echo signal, as well as the distance between the signal transmitter and receiver; the second distance is calculated based on the time delay of the echo signal. If the first distance and the second distance are the same, the sensing path corresponding to the echo signal is determined to be a LOS path; if the first distance and the second distance are different, the sensing path corresponding to the echo signal is determined to be an NLOS path.

[0127] Step 102: Determine the second path identifier for the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between the signal transmitter and the signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object type of a second object and the object type of a third object on the sensing path, the second object being located between the signal transmitter and the third object, the third object being located between the second object and the signal receiver, and the object type including a target or an environmental object.

[0128] In this step, the object type can be either a target or an environmental object. If the perception path is determined to be a LOS path, a second path identifier for the LOS path is further determined. This second path identifier depends on the object type of the first object on the LOS path. The object type of the first object can be obtained based on a comparison between the position of the first object and the positions of pre-known environmental objects. If the position of the first object is determined to be the same as the position of a pre-known environmental object, then the first object is determined to be an environmental object; if the position of the first object is determined to be different from the position of a pre-known environmental object, then the first object is determined to be a target.

[0129] If the sensing path is determined to be an NLOS path, a second path identifier is further determined. This second path identifier depends on the object types of the second and third objects on the NLOS path. The object types of the second and third objects can be obtained based on a comparison of their positions with the positions of previously known environmental objects. It should be noted that the order of the second and third objects on the NLOS path is that the second object comes first, followed by the third object; that is, the second object is located between the signal transmitter and the third object.

[0130] If the location of the second object is determined to be the same as the location of a previously known environmental object, then the second object is determined to be an environmental object; if the location of the second object is determined to be different from the location of a previously known environmental object, then the second object is determined to be a target. If the location of the third object is determined to be the same as the location of a previously known environmental object, then the third object is determined to be an environmental object; if the location of the third object is determined to be different from the location of a previously known environmental object, then the third object is determined to be a target.

[0131] In one embodiment, a first path identifier for N sensing paths corresponding to N echo signals is determined based on the measurement information corresponding to each of the N echo signals. Further, when the sensing path is a LOS path, determining a second path identifier for the LOS path allows us to determine whether a target is present on the LOS path. When the sensing path is an NLOS path, determining a second path identifier for the NLOS path allows us to determine the types of two objects on the NLOS path. Based on the types of the two objects on the NLOS path, the type of each segment of the NLOS path can be clearly identified. Therefore, this embodiment improves the accuracy of sensing path identification.

[0132] Optionally, the N echo signals include a first echo signal, and the step of determining the first path identifier of the N sensing paths corresponding to the N echo signals based on the measurement information corresponding to each of the N echo signals includes:

[0133] The first distance is calculated based on the angle of arrival and angle of departure of the first echo signal, and the distance between the signal transmitting end and the signal receiving end;

[0134] The second distance is calculated based on the time delay corresponding to the first echo signal;

[0135] When the first distance and the second distance are equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the first value, and the first value is used to indicate that the sensing path is a LOS path;

[0136] If the first distance and the second distance are not equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the second value, and the second value is used to indicate that the sensing path is an NLOS path.

[0137] In one embodiment, taking the first echo signal among multiple echo signals as an example, let the departure angle of the first echo signal be θ1, the arrival angle be φ1, and the distance between the signal transmitting end and the signal receiving end be d0. The first distance can be calculated according to the following formula. for:

[0138] Let the time delay corresponding to the first echo signal be τ1. Based on the signal propagation speed c, the second distance can be calculated as cτ1.

[0139] By comparing the first distance and the second distance, if the first distance and the second distance are equal, the first path identifier of the sensing path corresponding to the first echo signal is determined to be a first value (e.g., 0), and the first value is used to indicate that the sensing path is a LOS path; if the first distance and the second distance are not equal, the first path identifier of the sensing path corresponding to the first echo signal is determined to be a second value (e.g., 1), and the second value is used to indicate that the sensing path is an NLOS path.

[0140] In this implementation, based on the measurement information corresponding to the echo signal and the distance between the signal transmitter and the signal receiver, it is possible to accurately determine whether the sensing path is a LOS path or an NLOS path.

[0141] Optionally, the N sensing paths include a first sensing path, which is a LOS path, and the step of determining the second path identifier of the N sensing paths includes:

[0142] The position of the first object on the first sensing path is calculated based on the angle of arrival and angle of departure of the echo signal corresponding to the first sensing path, as well as the distance between the signal transmitting end and the signal receiving end.

[0143] Based on the comparison results between the position of the first object and the position of the environmental object, a second path identifier for the first perception path is determined.

[0144] In one embodiment, let the departure angle of the echo signal corresponding to the first sensing path be θ1, the arrival angle be φ1, and the distance between the signal transmitter and the signal receiver be d0. The position (x) of the first object can be calculated according to the following formula. S y S ):

[0145] The position of the first object is compared with the position of objects in the environment. If the positions of the first object and the environment objects are the same, the first object can be identified as an environment object; if the positions of the first object and the environment objects are different, the first object can be identified as the target. Then, based on the object type of the first object, the path identifier of the first perception path is determined.

[0146] In this implementation, the position of the first object on the LOS path is determined based on the angle of arrival and departure angle of the echo signal corresponding to the LOS path, as well as the distance between the signal transmitter and the signal receiver. The position of the first object is compared with the positions of environmental objects to determine the path identifier of the LOS path. Based on the path identifier, it can be determined whether the LOS path contains a target, thereby improving the accuracy of the path recognition method.

[0147] Optionally, determining the second path identifier of the first perception path based on the comparison result between the position of the first object and the position of the environmental object includes at least one of the following:

[0148] When the position of the first object is the same as the position of the environmental object, the second path identifier of the first perception path is determined to be a third value, and the third value is used to indicate that the first perception path is a single-target path.

[0149] When the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, which is used to indicate that the first perception path is a single environmental object path.

[0150] In one implementation, the third and fourth values ​​can be represented as strings, for example:

[0151] If the first object is the target, the path identifier of the first perception path can be determined to be the third value 000;

[0152] If the first object is an environmental object, the path identifier of the first perception path can be determined to be the fourth value 011.

[0153] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the step of determining the second path identifier of the N sensing paths includes:

[0154] When the second sensing path corresponds to a first relation LOS path and a second relation LOS path, the positions of the second object and the third object on the second sensing path are determined to be the positions of the first object on the first relation LOS path and the positions of the first object on the second relation LOS path, respectively. The first relation LOS path is the LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path, and the second relation LOS path is the LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path.

[0155] Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

[0156] In one implementation, if the second sensing path corresponds to one LOS path (i.e., the first relation LOS path mentioned above) with the same arrival angle and one LOS path (i.e., the second relation LOS path mentioned above) with the same departure angle, then the positions of the two objects on the second sensing path can be solved by the associated LOS path.

[0157] For example, let the departure angle of the echo signal corresponding to the first relationship LOS path be θ1, the arrival angle be φ1, and the distance between the signal transmitter and the signal receiver be d0. The position (x) of the first object on the first relationship LOS path can be calculated according to the following formula. S1 y S1 ):

[0158] Let the departure angle of the echo signal corresponding to the second relationship LOS path be θ2, and the arrival angle be φ2. Let the distance between the signal transmitter and the signal receiver be d0. The position (x) of the first object on the second relationship LOS path can be calculated using the following formula. S2 y S2 ):

[0159] Then, the positions of the second object and the third object on the second perception path can be determined as the positions of the first object on the first relation LOS path and the first object on the second relation LOS path, respectively.

[0160] Furthermore, the position of the second object is compared with the position of the environmental objects, and the position of the third object is compared with the position of the environmental objects to determine the path identifier of the second perception path.

[0161] In this embodiment, by determining the second path identifier of the second sensing path, the types of two objects on the second sensing path can be indicated. Based on the types of the two objects on the second sensing path, the types of each segment of the second sensing path can be determined, thereby improving the accuracy of sensing path identification.

[0162] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the step of determining the second path identifier of the N sensing paths includes:

[0163] When the second sensing path corresponds to a first relation LOS path or a second relation LOS path, the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path is determined as the position of the fourth object on the second sensing path. The fourth object is one of the second object and the third object. The first relation LOS path is a LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path. The second relation LOS path is a LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path.

[0164] Based on the location of the fourth object and the measurement information of the echo signal corresponding to the second sensing path, determine the location of the second object and the third object other than the fourth object;

[0165] Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

[0166] In one implementation, if the second sensing path corresponds to only one relational LOS path, the position of an object in the second sensing path can be determined using that relational LOS path. The position of another object in the second sensing path can be determined using the measurement information of the echo signal corresponding to the second sensing path and the positions of objects already solved on the second sensing path. Specifically:

[0167] Let the departure angle of the LOS path corresponding to the second sensing path be θ1, the arrival angle be φ1, and the distance between the signal transmitter and the signal receiver be d0. The position (x) of the first object on the LOS path can be calculated using the following formula. S1 y S1 ):

[0168] The position of the first object on the LOS path of this relationship is determined to be the position of one of the objects on the second perception path.

[0169] The location (x) of another object in the second perception path S2 y S2 The location can be determined using the measurement information (θ2, φ2, τ2) of the echo signal corresponding to the second sensing path and the position or measurement information (θ1) of the object already solved on the second sensing path.

[0170] in, d2=cτ2.

[0171] In this embodiment, by determining the second path identifier on the second sensing path, the types of two objects on the second sensing path can be indicated. Based on the types of the two objects on the second sensing path, the types of each segment of the second sensing path can be determined, thereby improving the accuracy of sensing path identification.

[0172] Optionally, determining the second path identifier of the second perception path based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, includes at least one of the following:

[0173] When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a fifth value. The fifth value is used to indicate that the first segment path of the second perception path is a LOS path and the second segment path is an NLOS path.

[0174] When the position of the second object is the same as the position of the environmental object, and the position of the third object is not the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a sixth value. The sixth value is used to indicate that the first segment path of the second perception path is an NLOS path and the second segment path is a LOS path.

[0175] When the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, the second path identifier of the second perception path is determined to be a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path;

[0176] When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be the eighth value, which is used to indicate that the second perception path is a dual environmental object path.

[0177] In one implementation, the fifth, sixth, seventh, and eighth values ​​can be represented as strings, for example:

[0178] If the second object is the target and the third object is an environmental object, the path identifier of the second perception path can be determined to be the fifth value 101. In this case, the first segment of the second perception path is the LOS path (i.e., signal transmitter - target), and the second segment of the second perception path is the NLOS path (i.e., target - environmental object - signal receiver).

[0179] If the second object is an environmental object and the third object is a target, the path identifier of the second perception path can be determined to be the sixth value 110. In this case, the first segment of the second perception path is an NLOS path (i.e., signal transmitter - environmental object) and the second segment of the second perception path is a LOS path (i.e., environmental object - target - signal receiver).

[0180] If the second object is the target and the third object is the target, the path identifier of the second perception path can be determined to be the seventh value 100. In this case, the second perception path is a dual-target path.

[0181] If the second object is an environmental object and the third object is an environmental object, the path identifier of the second perception path can be determined to be the eighth value 111. In this case, the second perception path is a dual environmental object path.

[0182] Optionally, after determining the second path identifier of the N sensing paths, the method further includes:

[0183] Count the total number of targets on the N sensing paths;

[0184] Based on the comparison between the total number of targets and the number of targets to be measured, the resolution adjustment flag of the signal transmitting end is determined.

[0185] In one implementation, the total number of targets on N sensing paths is counted. If the total number of targets is less than the number of targets to be measured, it indicates that the resolution of the sensing signal transmitted by the signal transmitter does not meet the measurement requirements and the resolution needs to be adjusted. The resolution adjustment flag can be set to "1" so that the signal transmitter changes the direction of the transmission beam and uses a narrower beam to transmit a sensing signal with a larger bandwidth to avoid NLOS paths and improve resolution. If the total number of targets is equal to the number of targets to be measured, it indicates that the resolution of the sensing signal transmitted by the signal transmitter meets the measurement requirements and the resolution does not need to be adjusted. The resolution adjustment flag can be set to "0".

[0186] In this implementation, by determining the resolution adjustment flag at the signal transmitter, the signal transmitter can adjust the sensing signal and beam configuration according to the resolution adjustment flag to avoid NLOS paths and improve resolution.

[0187] In one embodiment, referring to Figure 4, which is a second flowchart of the perceptual path recognition method provided in this disclosure, the perceptual path recognition method provided in this disclosure can be divided into the following steps:

[0188] I. Overall Path Recognition:

[0189] The signal transmitter sends a sensing signal. After being reflected / refracted / diffracted by N targets and / or environmental objects, the N echoes are received by the signal receiver. For each of the N received echoes, the signal receiver performs clutter suppression and measures the signal for each echo, obtaining measurement information corresponding to each echo. The measurement information for each echo includes the angle of arrival, departure angle, and time delay of the echo, as well as the received power of the echo.

[0190] The first distance is calculated based on the angle of arrival and departure of the echo signal, as well as the distance between the signal transmitter and receiver. The second distance is calculated based on the time delay of the echo signal. If the first distance and the second distance are the same, the sensing path corresponding to the echo signal is determined to be a LOS path, which can be identified by "0". If the first distance and the second distance are not the same, the sensing path corresponding to the echo signal is determined to be an NLOS path, which can be identified by "1".

[0191] II. Estimation of the location of the "object":

[0192] (1) For each NLOS path, if there exists a LOS path or environment object with the same Angle of Arrival (AoA) and / or Angle of Departure (AoD), then the NLOS path can be further marked as a "solvable NLOS path"; otherwise, it is marked as an "unsolvable NLOS path". The corresponding LOS path can be further marked as the "relative LOS path corresponding to the solvable NLOS path".

[0193] (2) Estimate the position of the first object on the LOS path: For a path that is determined to be LOS, calculate the position of the first object on each LOS path based on the AoA and AoD corresponding to each LOS path, combined with the distance between the signal transmitter and the signal receiver.

[0194] (3) Estimate the positions of the second and third objects on the "solvable NLOS path":

[0195] a) If the "solvable NLOS path" corresponds to 1 "relational LOS path corresponding to the solvable NLOS path" or 1 environment object with the same AoA, and 1 "relational LOS path corresponding to the solvable NLOS path" or 1 environment object with the same AoD, then the positions of the second object and the third object on the NLOS path can be solved by the two relational LOS paths.

[0196] b) If the "solvable NLOS path" corresponds to only one "relational LOS path corresponding to the solvable NLOS path" or one environment object, then the position of one object on the NLOS path can be solved using the relational LOS path or the environment object. The position of the other object on the NLOS path can be obtained based on the AoA, AoD, and time delay of the NLOS path, combined with the already calculated position of the object.

[0197] (4) For unsolvable paths, they are determined to be dual-objective paths.

[0198] III. Resolution Adjustment Judgment and Segmented Path Recognition:

[0199] (1) Compare the position of the first object on the LOS path, and the positions of the second and third objects on the NLOS path with the positions of the environment objects (E). Remove the positions that are the same as the positions of the environment objects, and the remaining positions are the positions of the targets (T). Count the number of targets measured, K. If the number of targets measured, K is less than the number of targets to be measured, the resolution adjustment flag can be set to "1"; otherwise, it is set to "0".

[0200] (2) For a LOS path containing a target (T), its identifier can be determined as "000". For a LOS path containing an environment object (E), its identifier can be determined as "011".

[0201] (3) For NLOS paths, each NLOS path is further segmented based on whether the first and second objects on each path belong to the environment (E) or the target (T). The four results shown in Table 1 are obtained:

[0202] Table 1

[0203] Let the signal transmitter be base station A, and the signal receiver be base station B or terminal B. In addition, there may be a server C, which is used to collect or calculate the sensing measurement results and notify the signal transmitter or signal receiver to perform corresponding adjustments.

[0204] Based on the different executing entities of the three steps mentioned in the above-mentioned perception path recognition method, there are a total of twelve methods as shown in Table 2:

[0205] Table 2

[0206] (1) For methods 1 and 6 in Table 2, base station B or terminal B needs to send the target number K (or resolution adjustment identifier, which can be represented by a 1-bit string), the location of each object, and the segment identifier of each path (which can be represented by a 3-bit string) to server C or base station A.

[0207] (2) For methods 2, 4, 7 and 9 in Table 2, base station B or terminal B needs to send the measurement information of each path and the location of all objects corresponding to each path to server C or base station A. They can also send the overall identifier of each path to server C or base station A.

[0208] (3) For methods 3, 5, 8 and 10 in Table 2, base station B or terminal B needs to send the overall identifier of each path (which can be represented by a 1-bit string) and the measurement information of each path to server C or base station A.

[0209] (4) For methods 11 and 12 in Table 2, base station B or terminal B only needs to send the measurement information of each path to server C or base station A.

[0210] If the number of NLOS paths is not zero based on the received path identifier, the signal transmitter can adjust the beam angle and / or transmission power of the sensing signal to avoid NLOS paths. If the signal transmitter receives a resolution adjustment identifier of "1", it can increase the sensing resolution by increasing the bandwidth of the sensing signal and / or using a finer beam.

[0211] To further illustrate the technical means of the above embodiments, please refer to Figure 5, which is a schematic diagram of a cooperative sensing scenario. The distance between base station A and base station B is known and denoted by d0. The targets to be measured are T and 'T', with a total of 2. Due to the insufficient resolution of the sensing signal transmitted by base station A, and the close proximity of the two targets, base station B cannot distinguish the echo signals passing through the two targets. The path between base station A and the two targets is a LOS path; since there is a known environmental object S between the two targets and base station B, the path between the two targets and base station B is an NLOS path.

[0212] (1) Base station A sends a reference signal to base station B.

[0213] (2) Base station B received two echo signals and measured them. The results are shown in Table 3:

[0214] Table 3

[0215] (3) Overall path determination:

[0216] Based on θ1 and φ1 of S1, and combined with the distance d0 between the signal transmitter and the signal receiver, base station B calculates the sum of the distances between the signal transmitter and the “object” and between the “object” and the signal receiver:

[0217] Base station B compares and estimates the total distance If the total distance cτ1 measured based on the time delay τ1 is the same as that measured by base station S1, then path S1 is determined to be a LOS path. Base station B processes S2 in a similar manner; if they are different, then path S2 is determined to be an NLOS path.

[0218] (4) Location estimation:

[0219] For LOS path S1, base station B uses θ1 and φ1, combined with the distance d0 between the signal transmitter and receiver, to calculate the location of "object 1", that is:

[0220] Base station B then uses the estimated position or measurement information (θ1) of "object 1" and combines it with the angle and time delay information θ2, φ2, and τ2 of S2 to estimate the position of "object 2" on the NLOS path of S2:

[0221] in, d2=cτ2.

[0222] (5) Target selection and segmented path identification:

[0223] Base station B will determine the location (x) of "object 1" S ,y S ) and the position of "object 2" (x T ,y T Comparing the position of "Object 1" with the known environmental objects, it is found that the position of "Object 1" is the same as the position of the known environmental objects. Therefore, "Object 1" is considered not to be the target to be measured, but a known environmental object, and is thus filtered out. "Object 2" remains as the target to be measured, so the total number of targets measured is 1. Since base station B knows that the number of targets to be measured is 2, which is greater than the total number of targets to be measured, it indicates that the resolution of the existing sensing signal cannot meet the measurement requirements. Therefore, the resolution adjustment flag is configured to "1".

[0224] Based on the geometric relationships along the NLOS path S2, and given the known environmental object located between the target and base station B, the segmented path identification result is determined to be "101" according to Table 1. Base station B can avoid the NLOS path by adjusting the direction of the receiving beam, etc.

[0225] (6) Information feedback:

[0226] Base station B sends the target location (x) to base station A via the Xn interface. T ,y T ), resolution adjustment indicator "1", segmented path recognition result indicator "101".

[0227] (7) Signal adjustment:

[0228] Base station A receives the resolution adjustment flag "1" and the segmented path identification result flag "101", changes the direction of the transmission beam, and uses a narrower beam to retransmit a reference signal with a larger bandwidth in order to avoid NLOS path and improve resolution.

[0229] Referring to Figure 6, which is a structural diagram of a path recognition device according to an embodiment of the present disclosure, the path recognition device 600 includes:

[0230] The first determining module 601 is used to determine the first path identifier of the N sensing paths corresponding to the N echo signals based on the measurement information corresponding to each of the N echo signals. The first path identifier is used to indicate whether the sensing path is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path. The measurement information includes the angle of arrival, departure angle, and time delay of the echo signal. N is a positive integer.

[0231] The second determining module 602 is used to determine the second path identifier of the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between a signal transmitter and a signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object type of a second object and the object type of a third object on the sensing path, the second object being located between the signal transmitter and the third object, the third object being located between the second object and the signal receiver, and the object type including a target or an environmental object.

[0232] Optionally, the N echo signals include a first echo signal, and the first determining module includes:

[0233] The first calculation unit is used to calculate the first distance based on the angle of arrival and departure angle corresponding to the first echo signal, and the distance between the signal transmitting end and the signal receiving end;

[0234] The second calculation unit is used to calculate the second distance based on the time delay corresponding to the first echo signal;

[0235] The first determining unit is configured to determine a first path identifier of the sensing path corresponding to the first echo signal as a first value when the first distance is equal to the second distance, and the first value is used to indicate that the sensing path is a LOS path.

[0236] The second determining unit is used to determine a first path identifier of the sensing path corresponding to the first echo signal as a second value when the first distance and the second distance are not equal, and the second value is used to indicate that the sensing path is an NLOS path.

[0237] Optionally, the N sensing paths include a first sensing path, which is a LOS path, and the second determining module includes:

[0238] The third calculation unit is used to calculate the position of the first object on the first sensing path based on the angle of arrival and departure angle of the echo signal corresponding to the first sensing path, and the distance between the signal transmitting end and the signal receiving end.

[0239] The third determining unit is used to determine the second path identifier of the first perception path based on the comparison result between the position of the first object and the position of the environmental object.

[0240] Optionally, the third determining unit includes at least one of the following:

[0241] The first determining subunit is configured to determine the second path identifier of the first sensing path as a third value when the position of the first object is the same as the position of the environmental object, wherein the third value is used to indicate that the first sensing path is a single-target path.

[0242] The second determining subunit is used to determine the second path identifier of the first sensing path as a fourth value when the position of the first object is different from the position of the environmental object. The fourth value is used to indicate that the first sensing path is a single environmental object path.

[0243] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the second determining module includes:

[0244] The fourth determining unit is used to determine, when the second sensing path corresponds to a first relational LOS path and a second relational LOS path, the positions of the second object and the third object on the second sensing path are respectively the positions of the first object on the first relational LOS path and the positions of the first object on the second relational LOS path, wherein the first relational LOS path is the LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path, and the second relational LOS path is the LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path;

[0245] The fifth determining unit is used to determine the second path identifier of the second perception path based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object.

[0246] Optionally, the N sensing paths include a second sensing path, which is an NLOS path, and the second determining module includes:

[0247] The sixth determining unit is used to determine, when the second sensing path corresponds to a first relation LOS path or a second relation LOS path, the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path is the position of the fourth object on the second sensing path, wherein the fourth object is one of the second object and the third object, wherein the first relation LOS path is a LOS path whose departure angle of the echo signal corresponding to it is the same as the departure angle of the echo signal corresponding to the second sensing path, and the second relation LOS path is a LOS path whose arrival angle of the echo signal corresponding to it is the same as the arrival angle of the echo signal corresponding to the second sensing path;

[0248] The seventh determining unit is used to determine the position of the second object and the third object other than the fourth object based on the position of the fourth object and the measurement information of the echo signal corresponding to the second sensing path;

[0249] The eighth determining unit is used to determine the second path identifier of the second perception path based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object.

[0250] Optionally, the eighth determining unit includes at least one of the following:

[0251] The third determining subunit is used to determine the second path identifier of the second perception path as a fifth value when the position of the second object is different from the position of the environmental object and the position of the third object is the same as the position of the environmental object. The fifth value is used to indicate that the first segment path of the second perception path is a LOS path and the second segment path is an NLOS path.

[0252] The fourth determining subunit is used to determine the second path identifier of the second perception path as a sixth value when the position of the second object is the same as the position of the environmental object and the position of the third object is not the same as the position of the environmental object. The sixth value is used to indicate that the first segment path of the second perception path is an NLOS path and the second segment path is a LOS path.

[0253] The fifth determining subunit is used to determine the second path identifier of the second perception path as a seventh value when the position of the second object is different from the position of the environmental object and the position of the third object is different from the position of the environmental object. The seventh value is used to indicate that the second perception path is a dual-target path.

[0254] The sixth determining subunit is used to determine the second path identifier of the second sensing path as an eighth value when the position of the second object is the same as the position of the environmental object and the position of the third object is the same as the position of the environmental object. The eighth value is used to indicate that the second sensing path is a dual environmental object path.

[0255] Optionally, the device further includes:

[0256] The first statistics module is used to count the total number of targets on the N sensing paths;

[0257] The third determining module is used to determine the resolution adjustment flag of the signal transmitting end based on the comparison result between the total number of the targets and the number of targets to be measured.

[0258] This disclosure also provides an electronic device. Since the principle by which the electronic device solves the problem is similar to the path recognition method in this disclosure, the implementation of this electronic device can refer to the implementation of the method, and repeated details will not be described again. As shown in FIG7, the terminal of this disclosure embodiment includes: a processor 700, configured to read a program from a memory 720 and execute the following processes:

[0259] Based on the measurement information corresponding to each of the N echo signals, the first path identifier of the N sensing paths corresponding to the N echo signals is determined, wherein the measurement information includes the angle of arrival, departure angle and time delay of the echo signal, and N is a positive integer;

[0260] A second path identifier is determined for the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between a signal transmitter and a signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object types of a second object and a third object on the sensing path, the second object being located between the signal transmitter and the third object, and the third object being located between the second object and the signal receiver, the object type including a target or an environmental object.

[0261] Optionally, the N echo signals include a first echo signal, and the processor 700 is used to read the program in the memory 720 and execute the following process:

[0262] The first distance is calculated based on the angle of arrival and angle of departure of the first echo signal, and the distance between the signal transmitting end and the signal receiving end;

[0263] The second distance is calculated based on the time delay corresponding to the first echo signal;

[0264] When the first distance and the second distance are equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the first value, and the first value is used to indicate that the sensing path is a LOS path;

[0265] If the first distance and the second distance are not equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the second value, and the second value is used to indicate that the sensing path is an NLOS path.

[0266] Optionally, the N sensing paths include a first sensing path, which is a LOS path. The processor 700 is used to read the program in the memory 720 and execute the following process:

[0267] The position of the first object on the first sensing path is calculated based on the angle of arrival and angle of departure of the echo signal corresponding to the first sensing path, as well as the distance between the signal transmitting end and the signal receiving end.

[0268] Based on the comparison results between the position of the first object and the position of the environmental object, a second path identifier for the first perception path is determined.

[0269] Optionally, the processor 700 is configured to read the program from the memory 720 and execute the following processes:

[0270] When the position of the first object is the same as the position of the environmental object, the second path identifier of the first perception path is determined to be a third value, and the third value is used to indicate that the first perception path is a single-target path.

[0271] When the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, which is used to indicate that the first perception path is a single environmental object path.

[0272] Optionally, the N sensing paths include a second sensing path, which is an NLOS path. The processor 700 is used to read the program in the memory 720 and execute the following process:

[0273] When the second sensing path corresponds to a first relation LOS path and a second relation LOS path, the positions of the second object and the third object on the second sensing path are determined to be the positions of the first object on the first relation LOS path and the positions of the first object on the second relation LOS path, respectively. The first relation LOS path is the LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path, and the second relation LOS path is the LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path.

[0274] Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

[0275] Optionally, the N sensing paths include a second sensing path, which is an NLOS path. The processor 700 is used to read the program in the memory 720 and execute the following process:

[0276] When the second sensing path corresponds to a first relation LOS path or a second relation LOS path, the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path is determined as the position of the fourth object on the second sensing path. The fourth object is one of the second object and the third object. The first relation LOS path is a LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path. The second relation LOS path is a LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path.

[0277] Based on the location of the fourth object and the measurement information of the echo signal corresponding to the second sensing path, determine the location of the second object and the third object other than the fourth object;

[0278] Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

[0279] Optionally, the processor 700 is configured to read the program from the memory 720 and execute the following processes:

[0280] When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a fifth value. The fifth value is used to indicate that the first segment path of the second perception path is a LOS path and the second segment path is an NLOS path.

[0281] When the position of the second object is the same as the position of the environmental object, and the position of the third object is not the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a sixth value. The sixth value is used to indicate that the first segment path of the second perception path is an NLOS path and the second segment path is a LOS path.

[0282] When the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, the second path identifier of the second perception path is determined to be a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path;

[0283] When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be the eighth value, which is used to indicate that the second perception path is a dual environmental object path.

[0284] Optionally, the processor 700 is configured to read the program from the memory 720 and execute the following processes:

[0285] Count the total number of targets on the N sensing paths;

[0286] Based on the comparison between the total number of targets and the number of targets to be measured, the resolution adjustment flag of the signal transmitting end is determined.

[0287] The electronic device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0288] This disclosure also provides a computer-readable storage medium storing a computer program. When executed by a processor, this computer program implements the various processes of the above-described path recognition method embodiments and achieves the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0289] This disclosure also provides a computer program product, including computer instructions. When executed by a processor, these computer instructions implement the various processes of the method embodiment shown in FIG1 above and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0290] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0291] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0292] The embodiments of this disclosure have been described above with reference to the accompanying drawings. However, this disclosure is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this disclosure without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this disclosure.

Claims

1. A method for perceptual path recognition, the method comprising: Based on the measurement information corresponding to each of the N echo signals, a first path identifier is determined for the N sensing paths corresponding to the N echo signals. The first path identifier is used to indicate whether the sensing path is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path. The measurement information includes the angle of arrival, departure angle, and time delay of the echo signal, where N is a positive integer. A second path identifier is determined for the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between a signal transmitter and a signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object types of a second object and a third object on the sensing path, the second object being located between the signal transmitter and the third object, and the third object being located between the second object and the signal receiver, the object type including a target or an environmental object.

2. The perceptual path recognition method according to claim 1, wherein, The N echo signals include a first echo signal. The step of determining the first path identifier for the N sensing paths corresponding to the N echo signals based on the measurement information corresponding to each of the N echo signals includes: The first distance is calculated based on the angle of arrival and angle of departure of the first echo signal, and the distance between the signal transmitting end and the signal receiving end; The second distance is calculated based on the time delay corresponding to the first echo signal; When the first distance and the second distance are equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the first value, and the first value is used to indicate that the sensing path is a LOS path; If the first distance and the second distance are not equal, the first path identifier of the sensing path corresponding to the first echo signal is determined as the second value, and the second value is used to indicate that the sensing path is an NLOS path.

3. The perceptual path recognition method according to claim 1 or 2, wherein, The N sensing paths include a first sensing path, which is a LOS path. The step of determining the second path identifier for the N sensing paths includes: The position of the first object on the first sensing path is calculated based on the angle of arrival and angle of departure of the echo signal corresponding to the first sensing path, as well as the distance between the signal transmitting end and the signal receiving end. Based on the comparison results between the position of the first object and the position of the environmental object, a second path identifier for the first perception path is determined.

4. The perceptual path recognition method according to claim 3, wherein, The determination of the second path identifier of the first perception path based on the comparison result between the position of the first object and the position of the environmental object includes at least one of the following: When the position of the first object is the same as the position of the environmental object, the second path identifier of the first perception path is determined to be a third value, and the third value is used to indicate that the first perception path is a single-target path. When the position of the first object is different from the position of the environmental object, the second path identifier of the first perception path is determined to be a fourth value, which is used to indicate that the first perception path is a single environmental object path.

5. The perceptual path recognition method according to claim 1, wherein, The N sensing paths include a second sensing path, which is an NLOS path. Determining the second path identifier for the N sensing paths includes: When the second sensing path corresponds to a first relation LOS path and a second relation LOS path, the positions of the second object and the third object on the second sensing path are determined to be the positions of the first object on the first relation LOS path and the positions of the first object on the second relation LOS path, respectively. The first relation LOS path is the LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path, and the second relation LOS path is the LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path. Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

6. The perceptual path recognition method according to claim 1, wherein, The N sensing paths include a second sensing path, which is an NLOS path. Determining the second path identifier for the N sensing paths includes: When the second sensing path corresponds to a first relation LOS path or a second relation LOS path, the position of the first object on the first relation LOS path or the position of the first object on the second relation LOS path is determined as the position of the fourth object on the second sensing path. The fourth object is one of the second object and the third object. The first relation LOS path is a LOS path whose departure angle of the echo signal is the same as the departure angle of the echo signal corresponding to the second sensing path. The second relation LOS path is a LOS path whose arrival angle of the echo signal is the same as the arrival angle of the echo signal corresponding to the second sensing path. Based on the location of the fourth object and the measurement information of the echo signal corresponding to the second sensing path, determine the location of the second object and the third object other than the fourth object; Based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, the second path identifier of the second perception path is determined.

7. The perceptual path recognition method according to claim 5 or 6, wherein, The determination of the second path identifier for the second perception path based on the comparison results of the position of the second object and the position of the environmental object, and the position of the third object and the position of the environmental object, includes at least one of the following: When the position of the second object is different from the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a fifth value. The fifth value is used to indicate that the first segment path of the second perception path is a LOS path and the second segment path is an NLOS path. When the position of the second object is the same as the position of the environmental object, and the position of the third object is not the same as the position of the environmental object, the second path identifier of the second perception path is determined to be a sixth value. The sixth value is used to indicate that the first segment path of the second perception path is an NLOS path and the second segment path is a LOS path. When the position of the second object is different from the position of the environmental object, and the position of the third object is different from the position of the environmental object, the second path identifier of the second perception path is determined to be a seventh value, and the seventh value is used to indicate that the second perception path is a dual-target path; When the position of the second object is the same as the position of the environmental object, and the position of the third object is the same as the position of the environmental object, the second path identifier of the second perception path is determined to be the eighth value, which is used to indicate that the second perception path is a dual environmental object path.

8. The perceptual path recognition method according to claim 1 or 2, wherein, After determining the second path identifier of the N sensing paths, the method further includes: Count the total number of targets on the N sensing paths; Based on the comparison between the total number of targets and the number of targets to be measured, the resolution adjustment flag of the signal transmitting end is determined.

9. A path recognition device, the device comprising: The first determining module is used to determine the first path identifier of the N sensing paths corresponding to the N echo signals based on the measurement information corresponding to each of the N echo signals, wherein the measurement information includes the angle of arrival, departure angle and time delay of the echo signal, and N is a positive integer; The second determining module is used to determine the second path identifier of the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between a signal transmitter and a signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object type of a second object and the object type of a third object on the sensing path, the second object being located between the signal transmitter and the third object, the third object being located between the second object and the signal receiver, and the object type including a target or an environmental object.

10. An electronic device, the electronic device comprising a processor, the processor being configured to: Based on the measurement information corresponding to each of the N echo signals, the first path identifier of the N sensing paths corresponding to the N echo signals is determined, wherein... The measurement information includes the angle of arrival, departure angle, and time delay of the echo signal, where N is a positive integer; A second path identifier is determined for the N sensing paths, wherein, when the sensing path is a LOS path, the second path identifier is used to indicate the object type of a first object on the sensing path, the first object being located between a signal transmitter and a signal receiver; when the sensing path is an NLOS path, the second path identifier is used to indicate the object types of a second object and a third object on the sensing path, the second object being located between the signal transmitter and the third object, and the third object being located between the second object and the signal receiver, the object type including a target or an environmental object.

11. An electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the perceptual path recognition method as described in any one of claims 1 to 8.

12. A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the perceptual path recognition method as described in any one of claims 1 to 8.

13. A computer program product comprising computer instructions that, when executed by a processor, implement the steps of the perceptual path recognition method as described in any one of claims 1 to 8.

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