Sensing processing method and system, and electronic apparatus and computer program product

Abstract

Provided in the embodiments of the present disclosure are a sensing processing method and system, and an electronic apparatus and a computer program product. The method comprises: receiving sensing configuration information sent by a second node; and on the basis of the sensing configuration information, sending a sensing reference signal. It is possible to solve the problem in the related art of obtaining an incorrect / inaccurate sensing result due to the fact that there may be a malicious node in a sensing system interfering with a sensing process and thus an incorrect sensing reference signal tampered with by the malicious node may be received. A sensing reference signal is sent on the basis of sensing configuration information sent by a second node, such that the malicious node cannot parse the sensing reference signal, thereby reducing the impact of the malicious node on the sensing system, and improving the sensing accuracy and reliability.

Description

Sensing processing methods, systems, electronic devices, and computer program products

[0001] Cross-references to related applications

[0002] This disclosure is based on and claims priority to Chinese Patent Application No. 2025101252309, filed on January 26, 2025, entitled “Sensing Processing Method, System, Electronic Device and Computer Program Product”, and incorporates the entire contents of that patent application by reference. Technical Field

[0003] This disclosure relates to the field of communication technology, and more specifically, to a sensing processing method, system, electronic device, and computer program product. Background Technology

[0004] During the sensing process, the first node can send a sensing reference signal, and the third node receives and measures the sensing reference signal to obtain the sensing result. However, malicious nodes may interfere with the sensing process in the sensing system. For example, a malicious node may listen to the sensing reference signal and tamper with or forward it, and the third node may receive an incorrect sensing reference signal, thus obtaining an incorrect / inaccurate sensing result. Summary of the Invention

[0005] This disclosure provides a sensing processing method, system, electronic device, and computer program product to at least solve the problem in the related art that malicious nodes may interfere with the sensing process in the sensing system, and that erroneous sensing reference signals may be received after being tampered with by malicious nodes, thereby resulting in incorrect / inaccurate sensing results.

[0006] According to one embodiment of this disclosure, a perception processing method is provided, applied to a first node, including:

[0007] Receive the perception configuration information sent by the second node;

[0008] Based on the perception configuration information, a perception reference signal is sent.

[0009] According to yet another embodiment of this disclosure, a perception processing method is also provided, applied to a third node, comprising:

[0010] Receive the perception configuration information sent by the second node.

[0011] According to yet another embodiment of this disclosure, a perception processing system is also provided, comprising: a second node, a first node, and a third node, wherein,

[0012] The second node is used to send perception configuration information to the first node and the third node;

[0013] The first node is used to receive sensing configuration information and send a sensing reference signal based on the sensing configuration information;

[0014] The third node is used to receive the sensing reference signal based on the sensing configuration information.

[0015] According to yet another embodiment of this disclosure, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when it is run.

[0016] According to yet another embodiment of this disclosure, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0017] According to yet another embodiment of this disclosure, a computer program product is also provided, including a computer program that, when executed by a processor, implements the steps in any of the above method embodiments. Attached Figure Description

[0018] Figure 1 is a schematic diagram of the hardware structure of the mobile terminal operating in the embodiments of the method disclosed herein;

[0019] Figure 2 is a flowchart of a perception processing method according to an embodiment of the present disclosure;

[0020] Figure 3 is a flowchart of a perception processing method according to an optional embodiment of the present disclosure;

[0021] Figure 4 is a schematic diagram of the transmission of a sensing reference signal according to an embodiment of the present disclosure;

[0022] Figure 5 is a second schematic diagram of the transmission of a sensing reference signal according to an embodiment of the present disclosure;

[0023] Figure 6 is a schematic diagram of the configuration power variation value according to an embodiment of the present disclosure;

[0024] Figure 7 is a schematic diagram of the configuration power variation value according to an embodiment of the present disclosure;

[0025] Figure 8 is a schematic diagram of a multi-carrier configuration for a sensing reference signal according to an embodiment of the present disclosure;

[0026] Figure 9 is a flowchart of a perception processing method according to an embodiment of the present disclosure;

[0027] Figure 10 is a flowchart of a perception processing method according to an optional embodiment of the present disclosure;

[0028] Figure 11 is a block diagram of a perception processing system according to an embodiment of the present disclosure. Detailed Implementation

[0029] The embodiments of this disclosure will be described in detail below with reference to the accompanying drawings and examples.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0031] The method embodiments provided in this disclosure can be executed in a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, FIG1 is a schematic diagram of the hardware structure of a mobile terminal running in the method embodiments of this disclosure. As shown in FIG1, the mobile terminal may include one or more (only one is shown in FIG1) processors 102 (processor 102 may include, but is not limited to, processing devices such as microprocessors MCUs or programmable logic devices FPGAs) and a memory 104 for storing data. The mobile terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that the structure shown in FIG1 is only illustrative and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than shown in FIG1, or have a different configuration than shown in FIG1.

[0032] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the perception processing method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thus implementing the above-described method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0033] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0034] This embodiment provides a perception processing method operating on the aforementioned mobile terminal or network architecture. Figure 2 is a flowchart of a perception processing method according to an embodiment of this disclosure. As shown in Figure 2, applied to the first node, the process includes the following steps:

[0035] Step S202: Receive the perception configuration information sent by the second node;

[0036] Step S204: Send a sensing reference signal based on the sensing configuration information.

[0037] Through the above steps S202 to S204, the problem in the related technology that malicious nodes may interfere with the perception process in the perception system, and may receive erroneous perception reference signals after being tampered with by malicious nodes, thus obtaining incorrect / inaccurate perception results can be solved. The perception reference signal is sent based on the perception configuration information sent by the second node, so that the malicious node cannot parse the perception reference signal, thereby reducing the impact of malicious nodes on the perception system and improving the perception accuracy and reliability.

[0038] The sensing configuration information in this embodiment may include at least one of the following: interleaving information / mapping information, phase information, phase configuration information and / or power configuration information, and sensing reference configuration information, wherein the sensing reference configuration information may specifically be sensing hole configuration information.

[0039] In this embodiment, the first and third nodes can be either transmitters or receivers, specifically UEs, base stations, Transmission Reception Points (TRPs), etc. The second node can be a core network Location Management Function (LMF) or Sensing Function (SF).

[0040] Figure 3 is a flowchart of a perception processing method according to an optional embodiment of the present disclosure. Step S204 above may include at least one of the following:

[0041] S302, perform interleaving / mapping processing on the sensing reference signal based on interleaving information / mapping information, and send the processed sensing reference signal;

[0042] S304, perform phase rotation processing on the sensing reference information based on the phase information, and send the processed sensing reference signal;

[0043] S306, transmits a sensing reference signal based on phase configuration information and / or power configuration information;

[0044] S308 sends a sensing reference signal based on sensing reference configuration information.

[0045] In one embodiment, the aforementioned sensing reference configuration information may include: adjusted beam direction and / or power.

[0046] The perception reference configuration information can specifically be a perception hole configuration. In a perception system, the perception target can be a cooperative target, such as a person or car that is part of the network and has subscribed to the perception service; it can also be a non-cooperative target, such as a passive node that is perceived by the BS / UE; or it can be a malicious node, a potential malicious entity that attempts to compromise network services in some way, such as an enemy aircraft, drone, or individual.

[0047] The perception server (corresponding to the second node) needs to ensure the security of the data transmitted to the UE / BS used for detecting / estimating / perceiving targets. The data rate of legitimate nodes must be higher than that of malicious nodes.

[0048] To improve the data rate of legitimate nodes, the beam direction of the sensing reference signal can be directed towards legitimate users. However, this method performs poorly when illegitimate and legitimate users are close to each other.

[0049] Optionally, the perception server may send information about malicious nodes to the perception nodes (first node, third node), which may include at least one of the following:

[0050] One or more location coordinates of a malicious node; optionally, one or more location coordinates may be associated with one or more timestamps.

[0051] One or more location coordinate ranges / regions where the malicious node is located; optionally, one or more location coordinate ranges / regions may be associated with one or more timestamps.

[0052] One or more movement speeds of a malicious node; optionally, one or more movement speeds may be associated with one or more timestamps.

[0053] Based on the above information, sensing nodes can use beamforming technology to create hollow regions, targeting the location of malicious nodes and reducing their received signal strength. Optionally, sensing nodes can avoid the location / area of ​​malicious nodes when transmitting sensing reference signals, thereby reducing their data rate.

[0054] Optionally, the perception server may send a non-recommended perception reference signal configuration to the perception node based on the information of the malicious node, which may include at least one of the following: the beam direction of the non-recommended perception reference signal; and the transmission power of the non-recommended perception reference signal.

[0055] The above methods can effectively reduce the data rate at which malicious nodes receive sensing-related data / signals, thereby improving the robustness of the sensing system.

[0056] Furthermore, the aforementioned weaving information / mapping information may include: interleaving patterns or interleaving rules for sending or receiving third-node interactive data.

[0057] Optionally, the sensing reference signal can also be interleaved, and sensing can be performed using interactive data: the sequence interleaving of the above data can be used for sensing, and the sensing reference signal transmitting node transmits data, wherein the data adopts the above interleaving method, the sensing reference signal receiving node can recover the data according to the interleaving method, and can extract channel features according to the received signal, thereby obtaining the sensing result. The data interleaving pattern / rules can be sent to the sensing node by the sensing server. Specifically, it can include at least one of the following:

[0058] S3021, Optionally, the sensing reference nodes are interleaved based on the sensing sequence;

[0059] S3022, Optionally, the sensing reference signal is interleaved based on sequence interleaving information or sequence interleaving parameter update, wherein the sequence interleaving information or sequence interleaving parameter can specifically be Cinit sequence interleaving / parameter update. Further, a corresponding Cinit is generated based on the sequence interleaving information or the sequence interleaving parameter update, and the sensing reference signal is interleaved based on the Cinit.

[0060] Cinit sequence interleaving / parameter update:

[0061] The positioning reference signal sequence in related technologies is generated by the following formula:

[0062] Where c(i) is a pseudo-random sequence, which is initialized by the following formula:

[0063] in The time slot number is used to locate the reference signal's sequence ID. Configured by higher-level parameters, l is the OFDM symbol in the time slot to which the sequence is mapped.

[0064] The sensing reference signal can reuse the encoding method of the positioning reference signal, and its sequence ID is sent by the sensing server (corresponding to the second node) or the sensing transmitting node (corresponding to the first node) to the sensing receiving node (corresponding to the third node). The sensing receiving node can also receive sensing configuration information. Optionally, this sequence ID can be interleaved, and the sensing server can send interleaved information / tables of the sequence ID to the sensing transmitting and receiving nodes. From the above formula, it can be seen that the initialization sequence Cinit is related to the sequence ID, time slot number, and OFDM symbol index within the time slot. To prevent malicious nodes from calculating the initialization sequence based on the sequence ID, time slot number, and OFDM symbol index within the time slot, the sensing server can send new parameters to the sensing transmitting and receiving nodes. These parameters include one or more of the following: the offset of the time slot number. Offset l of OFDM symbol index off offset of sequence ID Alternatively, the new Cinit calculation method is as follows:

[0065] Optionally, the sensing server can send a new parameter N to the sensing sending node and receiving node for calculating Cinit. This parameter can be carried by NAS signaling or RRC signaling. Optionally, the new Cinit calculation method is as follows:

[0066] Optionally, the sensing server can send one or more sequence IDs / seeds / Cinits to the sensing sending node and receiving node. Different sequence IDs / seeds / Cinits can be applied to different sensing reference signals or sensing reference signals sent at different times. That is, one or more sequence IDs / seeds / Cinits are associated with one or more timestamps and / or durations. The sensing sending node updates the sequence IDs / seeds / Cinits according to the given timestamps. In this way, malicious nodes cannot update the sequence IDs / seeds / Cinits in a timely manner, and therefore cannot correctly decode the reference signal.

[0067] Similarly, the sensing receiving node or transmitting node can request an update to the sequence ID / seed from the sensing server. For example, in the time domain, odd / even IDs are applied to different times. Optionally, if the sensing receiving node is a UE, the sequence ID / seed can be sent to the UE by the base station via DCI or MAC CE messages. Likewise, the UE can also request modification or update of the sequence ID / seed from the network / base station.

[0068] Optionally, the sensing reference signal can be divided into different levels, with different levels corresponding to different sequence ID lengths. For example, for certain sensing services with high privacy and security requirements, a longer sequence ID can be configured, making it more difficult for malicious nodes to obtain the sequence ID; while for certain sensing services without privacy requirements, a shorter sequence ID can be configured. Specifically, the configuration of the sensing reference signal sent by the sensing server to the sensing node may include the length of one or more sets of sequence IDs and the corresponding sequence ID / seed.

[0069] S3023, Optionally, the sensing reference node is interleaved based on the base sequence, wherein the base sequence is the base sequence in the time-domain interleaving of the ZC / low-PAPR sequence.

[0070] ZC / low-PAPR sequence temporal interleaving:

[0071] Low PAPR sequence base sequence Perform α-cyclic shift:

[0072] M ZC The sequence length. Base sequence. They are usually divided into different groups, where u∈{0,1,...,29} is the group number and v is the basic sequence number within the group.

[0073] For ZC sequence interleaving, the frequency domain can remain unchanged, but the sequence characteristics can be altered, i.e., interleaving occurs in the time domain. Optionally, the sensing server sends interleaving information / tables to the sensing transmitting and receiving nodes, i.e., the base sequences are interleaved according to certain rules, such as adjustments and interchanges of certain bit positions. Optionally, the sensing server sends interleaving information / tables of base sequence groups and / or basic sequence numbers within groups to the sensing transmitting and receiving nodes, and the base sequence groups and / or basic sequence numbers within groups are interleaved according to certain rules.

[0074] Using the above method, malicious nodes can obtain the sequence number, but cannot obtain the interleaving mapping relationship of the sequence, and therefore cannot obtain complete sensing information; at the same time, interleaving can reduce the autocorrelation of the sequence, so malicious nodes cannot infer the complete sensing signal from the first half of the signal, thereby improving the security of the sensing system.

[0075] The interleaving information / mapping information in this embodiment may include: bit sequence interleaving information or bit sequence interleaving table; or the number of sub-blocks and / or the size of the sub-blocks. Correspondingly, the method further includes at least one of the following: performing sequence interleaving on the sensing reference signal based on the bit sequence interleaving information or bit sequence interleaving table; dividing the sequence of the sensing reference signal into multiple sub-blocks based on the number of sub-blocks and / or the size of the sub-blocks; and performing interleaving processing on the multiple sub-blocks based on the sub-block interleaving rules.

[0076] Configure sequence interleaving for sensing RS:

[0077] Bit sequence interleaving: The sensing server sends bit sequence interleaving information / tables to the sensing reference signal transmitting and receiving nodes. The sensing transmitting node interleaves its sensing reference signal sequence according to the interleaving information / table, and the sensing receiving node deinterleaves its received sensing reference signal sequence according to the interleaving information / table to recover the original sensing reference signal, extract channel features, and thus obtain the sensing result.

[0078] Sub-block interleaving: The sensing server sends the number of interleaved sub-blocks and / or the size of the sub-blocks and / or the sub-block interleaving rules to the sensing sending and receiving nodes. For example, the original sensing sequence is divided into several sub-blocks, and different sub-blocks have different sub-block sequence interleaving information / tables.

[0079] In this embodiment of the disclosure, the sensing configuration information may include one of the following: one or more sequence IDs, parameters that have a mapping relationship with the sequence IDs, one or more timestamps, offsets of time slot numbers, offsets of OFDM symbol indices, and offsets of sequence IDs. Specifically, the parameters that have a mapping relationship with the sequence IDs may be interleaving information / tables for the sequence IDs.

[0080] In one embodiment, different sequence IDs are applied to different sensing reference signals or sensing reference signals transmitted at different times. The sensing reference signals can be divided into multiple levels, where different levels correspond to different sequence ID lengths.

[0081] In this embodiment of the disclosure, the sensing configuration includes at least one of the following: interleaving information / mapping relationship of the base sequence, and cyclic shift configuration. Correspondingly, the first node performs cyclic shift on the base sequence, or interleaves / maps the base sequence to obtain a sensing reference signal; or performs interleaving processing on the sensing reference signal in the time domain based on the interleaving information of the base sequence. The interleaving information of the base sequence may include: interleaving information of the base sequence group and / or the basic sequence numbers within the group.

[0082] In this embodiment of the disclosure, the phase information may include: first phase information and second phase information, wherein the first phase information is a random phase rotation and the second phase information may be a deterministic phase rotation.

[0083] In this embodiment of the disclosure, the aforementioned sensing configuration information includes at least one of the following: a key, wherein when based on random phase rotation, the key is combined with the sensing reference signal to encrypt the sensing reference signal; and when the sensing configuration information is a phase rotation parameter, the sensing reference signal is combined with the phase rotation parameter to perform deterministic phase rotation on the sensing reference signal.

[0084] In a communication system, the sensing reference signal phase rotation mechanism of this embodiment enhances signal security and anti-interference capability by combining random and deterministic phase rotation. Specifically, random phase rotation is determined using the AES (Advanced Encryption Standard) encryption algorithm, while deterministic phase rotation is implemented through system configuration.

[0085] Random phase rotation includes:

[0086] Key generation: A key is generated periodically on the network side or terminal device, or triggered by a specific event. The parameters mentioned above can be sent by the sensing server to the sensing sending and receiving nodes. This key can be used in the AES encryption process. Optionally, the encryption process may include byte state transformation, row transformation, cyclic shift, column transformation, XOR operation using the key, etc.

[0087] Signal encryption: The sensing reference signal to be transmitted is combined with the key and encrypted using the AES encryption algorithm. The encryption process introduces a random phase rotation, the angle of which depends on the specific content of the key and the signal.

[0088] Decryption and Reception: The receiver uses the same key to decrypt the received signal, restoring the original signal phase information. Due to the high security of the AES algorithm, even if the signal is intercepted during transmission, the interceptor will find it difficult to accurately decrypt the signal's phase information.

[0089] Deterministic phase rotation includes:

[0090] Configuration Parameter Settings: A set of fixed phase rotation parameters is defined in the system configuration. These parameters can be predefined based on the location / repetition count of time / frequency resource blocks to ensure consistency and predictability throughout the communication process. These parameters can be sent by the sensing server to the sensing transmitting and receiving nodes. Specifically, for the sensing reference signal, the sensing server can configure the phase difference between different repetition counts for the sensing transmitting and receiving nodes, or configure a reference repetition index, such as repetition1. Subsequent repetitions of the sensing reference signal will use the first transmission as a reference, adding a phase rotation value to this. For example, if the phase difference is configured to 15°, the phase of the first transmission will be 0°, the phase of the second transmission will be 15°, the phase of the third transmission will be 30°, and so on.

[0091] Applying deterministic phase rotation: Before transmitting the sensing reference, a deterministic phase rotation is performed by combining the signal with configuration parameters. This simplifies the demodulation process at the receiver, as the receiver can perform appropriate phase compensation based on the known configuration parameters.

[0092] By combining random and deterministic phase rotation, this scheme provides dual protection: the randomness introduced by the AES algorithm enhances signal security, while the deterministic phase rotation configured in the system ensures the accuracy of signal demodulation. This mechanism not only improves the signal's anti-interference capability but also enhances the resource utilization efficiency and reliability of the entire communication system.

[0093] In one embodiment, the aforementioned sensing configuration information may further include the phase difference between different repetition counts or the repetition index of the configuration reference.

[0094] In this embodiment of the disclosure, step S306 may include: determining the phase and / or power of the transmitted sensing reference signal based on phase configuration information and / or power configuration information; and transmitting the sensing reference signal based on the phase and / or power.

[0095] During the sensing process, in a scenario where A sends and A receives, a malicious node can receive the sensing reference signal sent by the sensing sending node, adjust the power, direction, phase, etc. of the received reference signal, and send it back to the original sensing sending node. As shown in the figure, TRP1, as both the sensing sending node and the receiving node, cannot distinguish which signal is reflected by the sensing target and which signal has been tampered with by the malicious node.

[0096] In a scenario where A (TRP1, corresponding to the first node) transmits and B (TRP2, corresponding to the third node) receives, a malicious node can also tamper with and modify the reference signal. TRP2 can only identify the initial path signal and cannot distinguish which is the reflection path of the sensing target and which is the path of the malicious node. Even if TRP1 performs amplitude modulation, phase modulation, and power modulation on the sensing reference signal during transmission, a malicious node can still perform the same operations. TRP2 is unaware of potential propagation reflection points and cannot determine whether there is a malicious node.

[0097] In the sensing process, an RTT-based sensing method can be considered, where both TRP1 and TRP2 send and receive sensing reference signals. Specifically, TRP1 sends the sensing reference signal, and TRP2 receives it. Then, TRP2 sends the sensing reference signal again, and TRP1 receives the signal. Figure 4 is a schematic diagram of sensing reference signal transmission according to an embodiment of this disclosure. As shown in Figure 4, the sensing reference signal can have a direct path between TRP1 and TRP2, or it can be reflected from the sensing target. When the positions of TRP1 and TRP2 are known, the direct path information can be obtained.

[0098] In a typical RTT-based sensing process, if there is a malicious node, Figure 5 is a schematic diagram of the sensing reference signal transmission according to an embodiment of this disclosure. As shown in Figure 5, the malicious node may reflect the sensing reference signal of TRP1, which TRP2 cannot distinguish. At the same time, it may also reflect the sensing reference signal of TRP2, which TRP1 cannot distinguish either.

[0099] Phase rotation is determined based on the received signal: Both TRP1 and TRP2 have a certain initial phase configuration when transmitting the sensing reference signal. The initial phase of TRP2 is calculated based on the phase of the received reference signal, or there is a transmission phase mapping relationship between TRP1 and TRP2, which can be configured by the sensing server for the sensing transmitting and receiving nodes. For example, if TRP2 receives RSRP / Phase = a, then the phase of the sensing reference signal transmitted by TRP2 is f(a). In this way, the receiving end can identify which received signal is correct when receiving the reference signal. That is, the initial phases of the transmitting and receiving ends are related, or TRP2 determines its transmission phase based on its reception.

[0100] If a malicious node forwards / reflects the Malicious signal of TRP1, TRP2 calculates and sends the initial phase in the same way. Then TRP2 sends the Malicious signal. When TRP1 receives the Malicious signal, it will find that the phase does not match the expected phase and can then assume that there is an attacker and discard the corresponding signal.

[0101] Figure 6 is a schematic diagram of the configuration power change value according to an embodiment of the present disclosure, and Figure 7 is a schematic diagram of the configuration power change value according to an embodiment of the present disclosure. As shown in Figures 6 and 7, in a scenario where A transmits and B receives, the sensing server can configure the power value or power change (jump / gradual change) value of the transmitting segment for the sensing transmitting node and the receiving node. For example, different transmission power adjustment methods can be configured for different time slots / repetition numbers:

[0102] The receiver will have an expected received power pattern. If it roughly matches the transmitter's configuration, it can be considered that the power has been received correctly.

[0103] Configure multi-carrier phase change values:

[0104] Figure 8 is a schematic diagram of configuring multiple carriers for the sensing reference signal according to an embodiment of the present disclosure. As shown in Figure 8, the sensing reference signal can be configured with multiple carriers. In the multiple carriers, the propagation paths of different carriers are the same. Different transmission phases can be configured for different carriers, or phase differences between different carriers can be configured, or a reference carrier can be used. The receiving end can then perform splicing / compensation based on the phase configuration of the sensing reference signal. If phase compensation / sponging cannot be completed, the sensing receiving node considers the signal to be sent by a malicious node. The phase of the receiving end is related to the initial transmission phase and propagation path of the transmitting node, while the malicious node cannot determine the sensing paths of the transmitting and receiving nodes, cannot obtain the corresponding phase compensation, and cannot attack the system.

[0105] Similarly, if the sensing reference signal can be configured with frequency hopping information, different phases can be configured for different frequency hopping information. Specifically, the frequency hopping information may include one or more sets of frequency hopping indices and phases, that is, the phases of different frequency hopping configurations are different, and the receiver can perform phase compensation / segmentation according to the phase configuration differences.

[0106] Through the above dynamic configuration, the receiving node can distinguish between the perception reference signals sent by legitimate nodes and malicious nodes, and the receiving node can filter out the signals of malicious nodes, thereby improving the perception accuracy.

[0107] In one embodiment, the phase configuration information may include one of the following: a phase map, one or more phase values, or one or more multi-carrier phase change values; the power configuration information includes one or more power values ​​or power change values. The phase map includes a mapping relationship between the transmitted phase and the received phase of the third node.

[0108] In this embodiment of the disclosure, the aforementioned perception configuration information may include information about malicious nodes, wherein the information about malicious nodes includes at least one of the following: one or more location coordinates, one or more location coordinate ranges / regions, and one or more movement speeds.

[0109] Furthermore, the aforementioned sensing configuration information may include at least one of the following: the beam direction of a non-recommended sensing reference signal, and the transmission power of a non-recommended sensing reference signal.

[0110] In another embodiment, the aforementioned perception configuration information further includes at least one of the following: one or more node trust levels, one or more node IDs, and a trust threshold.

[0111] Correspondingly, the above method also includes at least one of the following: receiving a sensing reference signal sent by a third node; obtaining the node trust level of the third node or the first node; discarding the sensing reference signal if the node trust level of the third node is less than a trust level threshold; retaining the sensing reference signal if the node trust level of the third node is greater than or equal to the trust level threshold. Obtaining its own node trust level is used to improve its own node trust level. Both the first and third nodes can receive the sensing trust levels of other nodes: for the first node, if its node trust level is low, other nodes can refuse to accept the first node's sensing reference signal; for the third node, if its node trust level is low, other nodes can refuse to accept its measurement reports.

[0112] Trustworthiness is defined as the reliability, robustness, and accuracy of sensing system entities and components. When an application requests a sensing service, the sensing system performs the corresponding sensing. The sensing system needs to select trustworthy nodes (e.g., sensing sending and receiving nodes) and execute the requested sensing service on these selected nodes; if the system's reliability cannot be guaranteed, the sensing request will fail. Therefore, a sensing system that supports sensing should be able to determine the trustworthiness of system entities, system components, or their sensing service capabilities in order to provide the appropriate sensing service.

[0113] When a sensing system fails to meet the requested service requirements, its credibility decreases, potentially impacting its future use. Continuous trust assessment should be used to evaluate this dynamically changing credibility. The sensing system should possess the following capabilities:

[0114] The perception system should be able to continuously determine (measure or predict) the credibility metrics of system entities and components to meet the key metrics of the requested perception services.

[0115] The sensing system should be able to (re)configure sensing tasks based on key indicators of the sensing service and the credibility of the system entities and components involved in the sensing task.

[0116] The perception system should be able to provide perception service requesters with indicators of the credibility of their perception services.

[0117] The perception server configures trust metrics for different nodes. The perception server evaluates the nodes based on the measurement results reported by the perception receiving nodes and sends their trust / credibility / reputation values ​​to the perception sending nodes and perception receiving nodes.

[0118] Trustworthiness can be assessed based on information such as the accuracy, quality, and latency of the measurement results. The trustworthiness index can vary depending on the reporting status of the receiving node at different times; for example, the trustworthiness weight of reports from historical times is lower, while the weight of reports from the most recent times is higher.

[0119] Here, Qt represents the quality of the measurement report at time t, and Wt represents the weight at time t, which can be determined by the perception server. Only when a node's trust index exceeds a certain value can the node be allowed to perform perception functions; otherwise, it can be identified as a malicious node, and perception reference signals will not be configured for this malicious node.

[0120] Similarly, the perception system can also configure / calculate trust metrics for perception services.

[0121] Optionally, the perception server may send the trust / credibility / reputation value Q and / or the weight value W of each reported measurement to the perception receiving node. The perception server may send the difference / decrease in the weight of the trust / credibility / reputation value from the previous report to the perception receiving node, because typically, the weight of the most recent report is larger, and the weight of previous reports decreases over time. Optionally, the perception server may send the difference / decrease in the weight of the trust / credibility / reputation value per unit time to the perception node, such as decreasing the weight by 0.1 every minute. Optionally, the perception server may send one or more weight values ​​of the trust / credibility / reputation value to the perception node, each weight value corresponding to one or more measurement reports. The perception server may also send one or more trust / credibility / reputation values ​​to the perception node, each trust / credibility / reputation value corresponding to the timestamp of one or more measurement reports and / or the timestamp of Q.

[0122] The relationship between weight and time can be calculated using the function Q(t). For example, if the current time is T, the weight value corresponding to the measurement report at time t can be expressed as Q(t). This function is a monotonically decreasing function of Tt, meaning that the larger Tt is, the farther the measurement time at time t is from the current time, and the lower the weight.

[0123] In this way, the sensing system and sensing nodes can adjust their sensing behavior according to the current trust value. For example, if the trust value of a sensing node is low at a certain moment, in order to obtain subsequent sensing tasks, the sensing node can improve its trust value by improving its measurement and reporting accuracy or response speed, thereby completing the subsequent sensing tasks.

[0124] This disclosure also provides a perception processing method. Figure 9 is a flowchart of a perception processing method according to an embodiment of this disclosure. As shown in Figure 9, the method is applied to the third node and includes the following steps:

[0125] Step S902: Receive the perception configuration information sent by the second node.

[0126] Figure 10 is a flowchart of a perception processing method according to an optional embodiment of the present disclosure. As shown in Figure 10, the method further includes:

[0127] Step S1002: Receive the sensing reference signal based on the sensing configuration information.

[0128] In this embodiment of the disclosure, the sensing configuration information includes at least one of the following: interleaving information / mapping information, phase information, phase configuration information and / or power configuration information, node trust level, and sensing reference configuration information.

[0129] In this embodiment of the disclosure, step S1002 may specifically include at least one of the following:

[0130] The sensing reference signal is deinterleaved / demapped based on the interleaving information / mapping information;

[0131] The sensing reference information is analyzed based on the phase information;

[0132] The sensing reference signal is received based on phase configuration information and / or power configuration information;

[0133] The sensing reference signal is received based on the sensing reference configuration information;

[0134] The sensing reference signal may be discarded or retained based on the node trust level.

[0135] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to 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 device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0136] This disclosure also provides a perception processing system. FIG11 is a block diagram of the perception processing system according to an embodiment of this disclosure. As shown in FIG11, it includes: a second node, a first node and a third node.

[0137] The second node is used to send perception configuration information to the first and third nodes;

[0138] The first node is used to receive sensing configuration information and send sensing reference signals based on the sensing configuration information;

[0139] The third node is used to receive the sensing configuration information and receive the sensing reference signal based on the sensing configuration information.

[0140] This embodiment also provides a sensing processing device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated. The device includes:

[0141] The receiving module is configured to receive the perception configuration information sent by the second node;

[0142] The transmitting module is configured to transmit a sensing reference signal based on the sensing configuration information.

[0143] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0144] Embodiments of this disclosure also provide a computer-readable storage medium storing a computer program configured to perform the steps in any of the above method embodiments when executed.

[0145] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0146] Embodiments of this disclosure also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0147] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0148] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0149] It is obvious to those skilled in the art that the modules or steps of this disclosure described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this disclosure is not limited to any particular combination of hardware and software.

[0150] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A perception processing method, applied to a first node, comprising: Receive the perception configuration information sent by the second node; Based on the perception configuration information, a perception reference signal is sent.

2. The method according to claim 1, wherein, The perception configuration information includes at least one of the following: Interleaved / mapping information, phase information, phase configuration information and / or power configuration information, sensing reference configuration information.

3. The method according to claim 2, wherein, Sending a sensing reference signal based on the sensing configuration information includes at least one of the following: The sensing reference signal is interleaved / mapped based on the interleaving information / mapping information, and the processed sensing reference signal is sent. The sensing reference information is subjected to phase rotation processing based on the phase information, and the processed sensing reference signal is sent. The sensing reference signal is transmitted based on phase configuration information and / or power configuration information; The sensing reference signal is sent based on the sensing reference configuration information.

4. The method according to claim 2, wherein, The interleaving information / mapping information includes: interleaving patterns or interleaving rules for sending or receiving interactive data from a third node.

5. The method according to claim 4, wherein, The method further includes at least one of the following: The sensing reference nodes are interleaved based on the sensing sequence; The sensing reference signal is interleaved based on sequence interleaving information or sequence interleaving parameter updates. The sensing reference nodes are interleaved based on the base sequence.

6. The method according to claim 2, wherein, The interleaving information / mapping information includes: Bit sequence interleaving information or bit sequence interleaving table; or Number of sub-blocks and / or size of sub-blocks.

7. The method according to claim 6, wherein, The method further includes at least one of the following: The sensing reference signal is sequentially interleaved based on the bit sequence interleaving information or the bit sequence interleaving table; The sequence of the sensing reference signal is divided into multiple sub-blocks based on the number of sub-blocks and / or the size of the sub-blocks, and the multiple sub-blocks are interleaved based on the sub-block interleaving rules.

8. The method according to claim 5, wherein, Interleaving the sensing reference signal based on sequence interleaving information or sequence interleaving parameter updates includes: Based on the sequence interleaving information or the sequence interleaving parameters, a corresponding Cinit is generated, and the sensing reference signal is interleaved based on the Cinit.

9. The method according to claim 1, wherein, The sensing configuration information includes one of the following: one or more sequence IDs, parameters that have a mapping relationship with the sequence IDs, one or more timestamps, offsets of time slot numbers, offsets of OFDM symbol indexes, and offsets of sequence IDs.

10. The method according to claim 9, wherein, Different sequence IDs are applied to different sensing reference signals or sensing reference signals transmitted at different times.

11. The method according to claim 9, wherein, The sensing reference signal is divided into multiple levels, with different levels corresponding to different sequence ID lengths.

12. The method according to claim 1, wherein, The sensing configuration includes at least one of the following: Interleaving information / mapping relationship of base sequences, cyclic shift configuration.

13. The method according to claim 12, wherein, The first node performs a cyclic shift on the base sequence, or interleaves / maps the base sequence to obtain the sensing reference signal; or The sensing reference signal is interleaved in the time domain based on the interleaving information of the base sequence.

14. The method according to claim 13, wherein, The interleaving information of the base sequences includes: interleaving information of base sequence groups and / or basic sequence numbers within a group.

15. The method according to claim 2, wherein, The phase information includes: First phase information and second phase information.

16. The method according to claim 2, wherein, The sensing configuration information includes at least one of the following: a key, which is combined with the sensing reference signal based on random phase rotation to encrypt the sensing reference signal; The sensing configuration information is a phase rotation parameter. The sensing reference signal is combined with the phase rotation parameter to perform a deterministic phase rotation on the sensing reference signal.

17. The method according to claim 1, wherein, The sensing configuration information also includes the phase difference between different repetition counts or the repetition index of the configuration reference.

18. The method according to claim 3, wherein, Sending the sensing reference signal based on phase configuration information and / or power configuration information includes: The phase and / or power of the sensing reference signal to be transmitted are determined based on phase configuration information and / or power configuration information. The sensing reference signal is transmitted based on the phase and / or power.

19. The method according to claim 2, wherein, The phase configuration information includes one of the following: phase mapping, one or more phase values, or one or more multi-carrier phase change values; The power configuration information includes one or more power values ​​or power variation values.

20. The method according to claim 19, wherein, The phase mapping includes the mapping relationship between the transmitted phase and the received phase of the third node.

21. The method according to claim 2, wherein, The perception reference configuration information includes: Adjust the beam direction and / or power.

22. The method according to claim 1, wherein, The perception configuration information includes information about malicious nodes, wherein the information about malicious nodes includes at least one of the following: one or more location coordinates, one or more location coordinate ranges / regions, and one or more movement speeds.

23. The method according to claim 22, wherein, The sensing configuration information also includes at least one of the following: the beam direction of the unrecommended sensing reference signal, and the transmission power of the unrecommended sensing reference signal.

24. The method according to claim 1, wherein, The method further includes: The perception configuration information also includes at least one of the following: trust level of one or more nodes, one or more node IDs, and trust level threshold.

25. The method according to claim 24, wherein, The method further includes at least one of the following: Receive the sensing reference signal sent by the third node; Obtain the node trust level of the third node; If the node trust level of the third node is less than the trust level threshold, the perception reference signal is discarded. If the node trust level of the third node is greater than or equal to the trust level threshold, the perception reference signal is retained.

26. A perception processing method applied to a third node, comprising: Receive the perception configuration information sent by the second node.

27. The method according to claim 26, wherein, The method further includes: The sensing reference signal is received based on the sensing configuration information.

28. The method according to claim 27, wherein, The perception configuration information includes at least one of the following: Interleaved / mapping information, phase information, phase configuration information and / or power configuration information, node trust, and sensing reference configuration information.

29. The method according to claim 28, wherein, Receiving a sensing reference signal based on the sensing configuration information includes at least one of the following: The sensing reference signal is deinterleaved / demapped based on the interleaving information / mapping information; The sensing reference information is analyzed based on the phase information; The sensing reference signal is received based on phase configuration information and / or power configuration information; The sensing reference signal is received based on the sensing reference configuration information; The sensing reference signal may be discarded or retained based on the node trust level.

30. A sensing processing system, comprising: The second node, the first node, and the third node, among which, The second node is used to send perception configuration information to the first node and the third node; The first node is used to receive the perception configuration information and send a perception reference signal based on the perception configuration information; The third node is used to receive the perception configuration information and receive the perception reference signal based on the perception configuration information.

31. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the steps of the method according to any one of claims 1 to 25, 26 to 29.

32. A computer program product comprising a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 1 to 25, 26 to 29.

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