[introduction]The article sets out from the gradual progress of car couplet net, analytic safety assists the demand that drive and drives automatically to be felt to the environment, proved a feeling unifinication technology the advantage that offerring an environment to feel a side. Use an analysis through the model, the article put forward car couplet net to apply pair of requirements that understand feeling unifinication and technical challenge. These technologies challenge correspondence, the article still elaborated canal of undee, end to cooperate with, Sidelink increases, the be in harmony of patulous target is synthetic resembling, small Duopule detects wait for a feeling unifinication key technology.

Communication feels unifinication (abbreviation ” connect feeling unifinication ” ) it is one of fundamental character with wireless communication new system, and setting of a supportive safety assists the car couplet net that drive and drives automatically to serve is a feeling unifinication technology fundamental application.

The article sets out from the gradual progress of car couplet net, analytic safety assists the demand that drive and drives automatically to be felt to the environment, proved a feeling unifinication technology the advantage that offerring an environment to feel a side. Use an analysis through the model, the article put forward car couplet net to apply pair of requirements that understand feeling unifinication and technical challenge. These technologies challenge correspondence, the article still elaborated canal of undee, end to cooperate with, Sidelink increases, the be in harmony of patulous target is synthetic resembling, small Duopule detects wait for a feeling unifinication key technology.

1 foreword

“Wireless perception ” the natural attribute that is radio wave, those who use radio wave send with receive perceptive physics world, become one of fundamental character with wireless communication new system gradually [1] . The network feels ability to will make wireless communication system evolves to feel unifinication system for communication, base station, terminal, whole even network becomes sensor, make can be explored, fixed position, identify, into resemble waiting for a function with n/arc drafting, monitor for medical treatment of factory of wisdom traffic, wisdom, wisdom, environment wait for a domain to offer buildup solution.

In recent years academia and industry industry feel to connecting unifinication spread out numerous research and exploration in the application of perpendicular industry, become a key to study one of way in the application of domain of car couplet net among them. 3GPP SA1 [2] is defined and described a series of connecting feeling unifinication is used relevantly exemple, more than 7 is become with exemple and setting of car couplet net relevant.

Although connect feeling unifinication to there is extensive research base in setting of car couplet net, had obtained certain research positive result, but oneself of current automobile industry is occurrent be changed with intelligence and what dynamoelectric melt into should indicate again is historic change, car operation automation upgrades ceaselessly, alternant interface digitlization deepens person car ceaselessly.

Accordingly, face a feeling unifinication of car couplet net, need holds the crucial trend of gradual progress of car couplet net, search the crucial value setting that connects feeling unifinication, be based on crucial trend and value setting, undertake crucial technology and application study. The crucial trend of gradual progress of net of couplet of article union car (the 2nd) , the value setting that introduces a feeling unifinication (the 3rd) , the analysis connects feeling unifinication to need key of sue for peace to challenge in the application of setting of car couplet net (the 4th) , a certain number of crucial technologies that understand feeling unifinication to domain of net of couplet of dispatch a vehicle (the 5th) , be summed up finally and look into a feeling unifinication to develop in the future of domain of car couplet net.

Trend of gradual progress of net of 2 cars couplet

Continuance the automobile industry situation of hundred years is occurrent change historicly, and intelligence is changed and dynamoelectric the two large tag that changing is this technology revolution.

Among them, the intelligence of the car changes main body to control the digitlization of system and interactive interface in car now, and on the automation that car operates. The easy that the ultimate goal that car intelligence changes is promotion car passenger is mixed moderately security, and drive automatically to make as the key can technology, the technology that lights real point this automobile industry changes.

What mature currently is automatic drive to still stay in L2 and L3 phase [3] , the person that still need to drive namely controls a car finally. ADAS system (AdvancedDriver-Assistance System) can think the person that drive is offerred get used to cruise oneself (Adaptive Cruise Control) , driveway is right neat (LaneCentering) with low speed / the generation below the circumstance that block a car up is driven (Traffic JamChauffeur) wait for auxiliary function.

The person that drive needs to always hold attention, so that be in complex the control that car perhaps take-overs at any time below sudden circumstance counterpoises. On real significance driving automatically is L4 and above drive automatically ability, the passenger will be complete from drive liberate on the task come out, get complete comfortable with safe experience.

Predict 2025, the car of 15% will have the whole world L3 drives automatically function, but L4 and above drive automatically of the function it is only 5% the left and right sides [4] . 2030, global L4 and above step are other and voluntary drive car may grow 10% .

From the point of the industry, gu Ge’s subordinate Waymo announces to be able to have realized L4 to drive automatically, but of short duration was not measured produce.
Run quickly in its 2030 wish the body that the key in scene mentioned L4 and L5 to drive automatically will be plan of prospective city transportation [5] .

The masses will roll out L4 to drive automatically 2026 car [6] .

Contemporary car will deploy Automode automatic road-sense to model of all 2026 mainstream, supportive L4 drives automatically [7] .

Baidu Apollo RT6 was used in the investment on turnip tantivy 2023, the pilot area that has been in Beijing, Wuhan, Chongqing and Shenzhen begins the operation that L4 devoid person drives automatically, predict 2026 – controlled a quantity to produce 2028 [8] .

Graph 1 whole world each grade drives automatically permeability beforehand appraise (2025 – 2040)

The main reason that at present above of block up L4 drives automatically to measure produce and large-scale applying finally is the public ask to the Yan Ke of the dependability that drives automatically and security. Automatic road-sense had had existing L4 the safe travel record of 1 million miles of class [9] , the processing capability below complex environment and answer accident ability Yuan Chao to cross the mankind [10] .

However, drive because public concept is right automatically and the cautious attitude of AI, drive automatically need is achieved almost 0 accidents ability is 0 error the masses is accepted completely. The accurate judgement that drives automatically basically relies on a system to run region in the design (Operational Design Domain, ODD) in the perceptive ability to the environment.

ODD defined the specific moving requirement that to drive automation system designs technically, for example the limitation of environment, geography and time, the communication that may use or road feature.

Up to now, drive automatically as a result of,the casualty that cause is at that time drive the environment exceeded ODD cover range, those who bring about the wrong judgement that drives automatically to the system feels inadequacy to the environment and be made to cause [11] .

To guarantee the security that drives automatically to fall in all sorts of environments, of ODD enclothe limits to need approach infinite, this poses grim challenge to be based on the perceptive plan of bicycle. Bicycle feels the main challenge that face to include:

? Static environment detects ability / accuracy: For example, driveway and traffic regulation (include traffic signal lamp) relation, long road / the driveway that traffic control brings about is changed wait for special situation.
? Perception grows end setting problem: Suffer be restricted the perception of blame apparent distance that the car carries the deploy position that feels parts of an apparatus to bring about suffers be restricted.

These challenges accept the restriction of the hardware ability of bicycle of be confined to, cost and objective perspective, solve very hard with technical program. Accordingly, rely on bicycle perception to come true hard only advanced and automatic drive wants approach is infinite ODD requirement.

In real environment, even if L4 is assisted below drive system, rely on its strongly also to be opposite the perceptive ability of circumjacent environment, below the difficult setting such as blind angle of soup, apparent distance, if assist,drive the system cannot get effective and accurate environment feels information, cannot make seasonable early-warning to probable hazardous condition or handle, same meeting is reduced auxiliary drive systematic security, perhaps cause auxiliary drive the system is complete invalidation (see a table 1) .

The perception that expresses 1 different order and degree and decision-making

The value setting of 3 feeling unifinication

The necessity that shirt-sleeve road side feels on the base that this section analysis carries perception in the car and value (the 3.1st) , and connect feeling unifinication the photograph is otherer the gain of plan of road side perception and advantage (the 3.2nd) .

The necessary value that 3.1 side feel

Current, the car relies on all sorts of cars to carry sensor greatly to the perception of circumjacent environment, basically include millimeter wave equipment of equipment of wireless range finding, laser range finding and photograph like the head. These sensor can explore an object, measure distance and relative speed.

The sensor of different type is in by installation the different position of car, so that feel surroundings adequately,support all sorts of driving to assist a function. Normally, install the distance that in the Sunday run of car forehead equipment of wireless range finding is making an appointment with 250 meters to cover the car before be being explored inside limits and speed, get used to cruise control in order to come true oneself.

Same, equipment of wireless range finding is urgent apply the brake before the short range that has broader view provide support. Different sensor technique has actor drawback each. For example, equipment of wireless range finding can be in millimeter wave the job below condition of certain extreme weather, equipment of laser range finding and photograph resemble head criterion cannot.

Same, photograph what can undertake is based on image like the head to explore, and other technology criterion cannot. Because do not have a kind of onefold sensor technology,can support round-the-clock with full-court scene, because this confluence comes from the information of different sensor,feel surroundings reliably to car crucial [12] .

Car of graph 2 L4/L5 carries sensor deploy plan

Hold communication system as the car (Vehicle To Everything, v2X) application, the wireless communication ability of ADAS gets buildup. On board what compositive communication function can regard sensor as the system is patulous. Contact is passed between car, can obtain the environmental information of imperceptibility of its oneself sensor, realize safety to drive efficiently through the collaboration between car.

This was extended not only drive automatically of car remote perceptive ability, and make can workshop perception information is shirt-sleeve, make its can fall to be explored without blind angle and distinguish an object with high resolution in round-the-clock circumstance, implementation drives automatically the ability promotion of car.

In addition, those who had communication function is auxiliary, the perceptive information that is based on road side equipment also can be fallen to be passed to the car. The main advantage that road side environment feels includes:

? Deploy position dominant position: Position of erect of road side perception is high, have perspective of look down at
– road side perception: Increase the perceptive angle that perpendicular dimension spends, compensatory car side is not apparent distance to feel limits.
– road side photographs like the head: But specific aim cloth sets keep out to defend, the side of extreme weather satisfy the need such as rainstorm photographs those who resemble a head to identify interference to be almost 0.
? Advantage of dimension of parts of an apparatus:
– road side perception: Range of large size day (more streak) , azimuthal the angle resolution with pitch angle is higher.
– road side photographs like the head: A variety of large size are photographed like the head, have different focus (arrive from extensive role long anxious etc different anxious paragraph) with exposure ability (exceed low time of exposure) , image synthesis can realize 0 distortion.

Graph the environmental information that 3 networks provide macrocosm Gao Ke to lean

The advantage of 3.2 feeling unifinication

According to traditional method, compositive in car the subsystem that the perceptive system that is based on a car to record sensor and V2X communication can bring about two independence. The system with this kind of not associated each other can affect many aspects, the wiring inside the space that takes up like power comsumption, sensor, gross weight that feels a system, amount that requires aerial and car asks to wait.

As sensor / increase of communication equipment amount ceaselessly, the limited installation space on the car brought enormous challenge to the interior design of car. In addition, independent car carries equipment of wireless range finding and V2X communication to still need to solve spectrum to disturb a problem, include the interference between equipment of wireless range finding, and the interference between equipment of wireless range finding and communication.

Especially the interference between equipment of wireless range finding, it is a when current car carries equipment of wireless range finding to be faced with thorny issue. If of photograph adjacent car many with frequency equipment of wireless range finding works at the same time, their visual field may overlap bring about interference, affect whole to explore property thereby.

In addition, in light of the angle that uses from spectrum, the system that perception and communication become independent twice is times doubler to the demand of spectrum. Accordingly, will correspond and perception is compositive in a system, implementation connects feeling an organic whole, became certain technical way.

From the point of systematic angle, this is meant from spectrum answer use and partial hardware put sb in a very important position, what wait for many respects to associated signal processing and uniform agreement inn is compositive, unifinication comes true on disparate arrangement of ideas, arrive to be become closely thick and fast from inattentive coupling. Connect feeling unifinication system to be able to transmit data and perceptive environment at the same time, bring a variety of potential advantages thereby.

These advantages involve many aspects, if hardware dimension, place needs aerial,amount, cost, defer, spectrum is mixed can effect. In addition, close together and compositive system design can decrease to correspond and pass the segregation between feeling system, this offerred a possibility to realize the efficient information between two kinds of functions and resource to share.

In addition, because communication system leads much user oneself,resource management and interference manage a mechanism, when many feeling unifinication works at the same time, the interference problem of equipment of similar and wireless range finding also can get effective settlement. In the meantime, the perceptive information that in connecting feeling unifinication, obtains also can use the property that Yudigaojitong believes. The positional information that feels for instance can be used at beam is forecasted and management, block is forecasted, channel state information (Channel State Information, CSI) compress, suit oneself transmit wait for a respect.

The graph feels 4 times unifinication sketch map

4 feeling unifinication applies mediumly in car couplet net

The introduction from above paragraphs is knowable, the perceptive mechanism that is based on a network can enhance the ability of the systematic perception to the environment. For example, because the position of sensor of the installation on car and view are narrow, the network feels field of vision of OK and compensatory traditional sensor with exterior cent cover range, and provide additional perceptive information, the perceptive scotoma in be being used at enclothing the complex road setting such as alternate mouth especially.

The perceptive function that is based on a network can be felt better with road / the information related freeway state, include mobile object (like car, animal and pedestrian) , traffic density, crowd.

4.1 setting and use an analysis

3GPP is defined and described one group and connect feeling unifinication to be used relevantly exemple [2] , have quite one part and car setting are relevant, consider plan of the following kinds of implementation among them:

? Base compositive communication is mixed on station and terminal unit perceptive function
? Mobile network coordinates the perception between many terminal unit and network substance information is interactive
? Base the additional input that the perception of station and terminal unit feels as the environment as a result

V2X of the part in expressing 2 3GPP SA1 is used exemple

Express 2 in it is to use the description of the exemple partly. Ask to look with the function of the exemple from these, the network connects feeling unifinication mediumly to need to provide the following mechanism:

? Choice and configuration carry out those who conduct feeling function base station and terminal unit
? In wireless accept a web (Radio Access Network, RAN) with core net (Core Network, CN) between share send feeling message
? Accredit network node is carried out conduct feeling function
? Infect the network mediumly feeling information to offer tripartite to serve a provider
? Implementation is based on the perceptive service of the network to collect fees

Different to connecting the function of feeling unifinication to ask to depend on greatly with the service target of the exemple. Car couplet net is used relevantly in the exemple, perceptive environment and object basically are outdoor, the respect such as the accuracy that the difference that differs to ask with the function in the exemple nods buy of main v/arc be on the throne and speed to measure, limits, reliability and defer, refresh rate.

The pedestrian on the freeway / the animal inbreaks detect: Considering the width of the freeway and length, be based on base the perception of the station needs to be in more remote outside effective identifying pedestrian and animal. The athletic speed as a result of car normally very tall, bring about setting height trends to change, because this is right,perceptive refresh rate and precision raised taller requirement. 3GPP defined the following demand [2] :

? Fixed position precision (horizontal way) : Be less than 1 meter
? Refresh rate: Be less than 0.1 seconds

Roundabout perception: The car density of roundabout can affect performance demand of perception. For example, in height period of time, besides tall perception precision and refresh rate, the stream of people of high density and wagon flow still need higher perceptive resolution. To leaking check is led and the requirement of empty check rate also is met according to the density of wagon flow of stream of people change. 3GPP defined the following demand [2] :

? Fixed position precision (level) : Be less than 1 meter
? Refresh rate: Be less than 0.1 seconds
? Leakage check leads: Be less than 5%
? Rate of false alarm: Be less than 5%

Pass feeling is auxiliary the car holds accuse and navigation: This setting needs to coordinate the perception that comes from many cars to carry terminal pertinent information, offer car to be used at holding to accuse to mix navigation. Because travel is medium car span may be very small, so perceptive information must assure high accuracy and high refresh rate.

In addition, because feel pertinent information to come from many cars to carry terminal, ensure these low defer synchronism that feel information are very important also.

Use at the car perception of ADAS: The ADAS system on the car is comprised by Sunday run and stone’s throw sensor, connect feeling unifinication technology to will go up to the car original sensor offers complement to perhaps be replaced.

In addition, be opposite considering ADAS system safe requirement, this setting has firm demand to knowing extent of the error rate of move result and error. 3GPP defined the following demand [2] :

? Fixed position precision (level) : Sunday run (250 go to 300 meters) be less than 40 centimeters, stone’s throw (30 go to 100 meters) be less than 10 centimeters
? Refresh rate: Sunday run is less than 0.2 seconds, stone’s throw is less than 0.05 seconds
? Rate of false alarm: Be less than 1%

4.2 keys accuse sue for peace is challenged

To come true afore-mentioned with exemple, a certain number of technology challenges need to solve. Above all, because the perceptive object in setting of car couplet net is phyletic numerous, include all sorts of car, person, animal and temporarily fraise body (the roadblock that in be like civil engineer, uses) , in feeling environmental process accordingly besides fixed position, still need to identify the perceptive target of different type.

Next, not be to feel an object to have wireless communication capacity, because this understands feeling unifinication technology,need is opposite at the same time the active cause that has communication capacity (the car that if match,has V2X capacity) with the passive target that does not have communication ability (pedestrian, animal) undertake perceptive.

In addition, the mobile sex that feels an object also feels to connecting unifinication raised additional requirement. For example, coordinate in many car in holding the use case that accuse, perceptive function need dogs continuously many car around and object, is not one-time detect an instant incident.

Because the perceptive range of individual perception equipment is narrow, successive perception is offerred to serve need deploy in the setting that involves high liquidity emitter of many perception signal and receiver. Be located in when these emitter and receiver when different network node, (be in for example two-way in passing feeling setting) , be necessary to undertake harmony keeping abreast of going metrical result confluence to its, with avoid or reducing leakage check incident as far as possible.

Connect hopeful of feeling unifinication technology to enhance V2X to use a medium environment to feel ability, but the traditional sensor such as equipment of wireless range finding will still (it is at least inside period of time) by reservation. This may bring about equipment of wireless range finding and beehive system coexistence at same frequency paragraph or photograph adjacent frequency paragraph (for example 77 GHz) . Below this kind of circumstance, the car of transmission data may cause interference to receiver of equipment of wireless range finding.

Same, transmit of equipment of wireless range finding is opposite possibly also car or base the station causes interference. This is shared in spectrum with respect to the requirement, the respect such as undee, resource allocation and artificial intelligence method offers technical solution, with handling the interference in compositive system effectively.

A technologies of 5 feeling unifinication key that apply to car couplet net

By a feeling unifinication with demand for service and applied ecbolic setting plan shows tremendous potential, but still be faced with many technologies to challenge. This section is aimed at car couplet setting, list and analyse a few to understand technology of feeling unifinication key.

The radical plan of 5.1 feeling unifinication

Connect feeling unifinication to aim to correspond the ode in the system can be felt, share in order to realize network resource, spectrum is shared and processing capability is shared. Specific to implementation means, the confluence that connects feeling unifinication is OK the level that body differs 3 times below now:

? Business class is shirt-sleeve: Perception and communication come true by different hardware, move in respective frequency paragraph. Two systems undertake in applied layer alternant, achieve the result of mutual stimulative win-win. For example base the station can pass perceptive module, get environmental information to undertake more effective beam is forecasted thereby reach management. Perceptive equipment can make be coordinated between the station through communication unit achieve interference administration thereby.

? Spectrum class is shirt-sleeve: Perception and communication two functions module moves at same system, the way that can be divided through time, frequency or parts for nothing realizes spectrum resource to share. Two functions module also can be passed share partial hardware resource, reduce hardware and implementation expense.

? Completely shirt-sleeve: Unitary system supports two big functions at the same time, common technology of eat dishes without rice or wine and spectrum resource. Below completely shirt-sleeve setting, the system can attemper to resource according to demand for service and relevant function index even design of eat dishes without rice or wine undertakes trends is optimized, efficiency of implementation network resource is the biggest change.

5.2 feeling unifinication is undee

Industry has a large number of research to connecting feeling unifinication weaveform, from function consideration, the article introduces 4 kinds of among them weaveform only: OFDM (OrthogonalFrequency Division Multiplexing) , OFDM-Chirp, OCDM (Orthogonal Chirp Division Multiplexing) and OTFS (Orthogonal Time Frequency Space) .

In these a few kinds of weaveform the perceptive performance of OFDM-Chirp is relatively excellent, but photograph comparing of function of the communication below Rayleigh channel and OFDM has certain loss. OFDM is current one of technologies of modulation of communication much carrier wave of the mainstream, the valve other its integral is compared and more different than be in parameter leaves the segment or section other peak value slightly under LFM, at present academia also feels function to promote a method in what explore OFDM actively.

OFDM-Chirp weaveform, its fundamental is Chirp signal parts modulation arrives different child on carrier group, because OFDM believes orthogonality is between carrier wave of a work song sung to synchronize movements, different child the signal nature on carrier group satisfies orthogonal sex. The OFDM-Chirp signal model that time domain produces [13] is:

In type: T) of ≤ of T of ≤ of T (0 is the time sampling of signal; U(t)=1, (T) of ≤ of T of 0 ≤ is rectangular window function; The initiative frequency of the carrier wave of N stature that Fn and Kn are signal S(t) respectively and slope.

The much carrier wave of OFDM-Chirp system is characteristic, can solve signal of LFM Chan Zaibo to transmit rate to cross small issue. Consider pair of existing system compatibility, implementation is complex spend a circumstance to fall, OFDM-Chirp is relatively potential connects feeling unifinication weaveform, its feel function in a few kinds of this many carrier wave relatively outstanding.

Below identical parameter, the distance of OFDM-Chirp and OFDM signal and speed resolution are same. Below gauss channel, different letter a confusion of voices compares by accident code rate is shown 5 times like the graph, in different letter comparing of a confusion of voices falls, function does not have bigger difference.

Because OFDM-Chirp signal passes LFM enlarge frequency to get by OFDM signal, reason its signal model will have a lot of similar sexes with OFDM signal model. The PAPR curve that connects OFDM-Chirp of beyond the mark analyse and OFDM signal is knowable, the peak of OFDMChirp unifinication signal all compares function and OFDM signal almost identical.

Weaveform of graph 5 OFDM and OFDM-Chirp undee performance are comparative

The fundamental of OCDM is the linear Chirp signal that forms a group of orthogonality through Feinieer is being used to alternate in identical bandwidth, go to communication information modulation the extent of signal of this group of Chirp and phasic on [14] , realize efficient communication data to transmit thereby.

OCDM signal is formed for many Chirp signal, to Duopule accordingly frequency moves not sensitive, in guard track length insufficient circumstance falls, can defy effectively time is alternative be on the wane.

OCDM signal and OFDM photograph need to increase two than launching end the dot multiplies matrix, make conditional appearance relatively more complex than OFDM signal, want true implementation to commercialize still put in difficulty of a few technologies, for instance construction gives advantageous smooth address code, design to make high-powered light make up / decoder, improvement systematic performance, increase systematic capacity to reach raise utilization rate of systematic natural resources to wait.

OTFS modulation can be regarded is a kind of special OFDM modulation, module of the decipher after the input output in traditional OFDM modulation adds to code module is mixed beforehand respectively on end [15] , if the graph is shown 6 times,OTFS signature controls demodulation process.

The effective channel matrix of OTFS modulation is in when delay much general to carve territory, right now the element in matrix is for the most part 0, the Shi Yanhe much general of the elemental position of 0 values and method straps and rather than frequency moves about, because this wants to estimate the Shi Yanhe of each method in channel only,much general Le Pin moves and effective answer gain can, what can reduce channel to estimate greatly so is complex degree.

Because OTFS modulation uses rectangle to send and receive pulse, inputting output to concern is not direct 2 dimension coil accumulate operation, because this cannot use the balanced algorithm of frequency time-domain directly in sink, of algorithm of other sign demodulation complex degree be more than OFDM modulation far.

Signature of graph 6 OTFS controls demodulation process

5.3 end canal cooperates with distributed connect feeling unifinication

Face setting of car couplet net, bicycle perception suffers be confined to the perception of 5% grows end setting, because this introduces the perception of road side,information is attached most importance to especially should.

And when shirt-sleeve car side and road side feel information, the tall mobile sex of car can bring following challenges to distributed perception: For example, road side and car side are mixed to the position of car the uncertainty of speed, and, road side and car side to same a physical character that the object feels is different, for instance, because feel a perspective to differ, the object that road side feels is dormant, and what car side feels is motion.

To settle this one challenge, the car side that can consider to be based on uncertainty and information of road side perception are shirt-sleeve, namely the uncertainty of car general position and mobile sex parameter takes the place of as sealed variable in target detection problem, form target and car side the combination of sealed parameter detects problem, pass next optimize algorithm, for instance Newtonian law or imitate anneal algorithm seeks optimum solution, promote the accuracy of target detection thereby.

If the graph is shown 7 times, different car and road side RSU or when GNB is undertaking associated perceptive, as a result of tall mobile sex, the place that car oneself estimates and actual place have deviation, at the same time each feel a source to same the perceptive itself of an object has perceptive error, the error when information is shirt-sleeve may be magnified.

To solve this problem, each car can declare the estimation error of car shirt-sleeve center, construction optimizes a problem, promotion feels precision jointly [16] .

Graph the upright canal of 7 uncertainty is felt in coordination

5.4Sidelink increases distributed connect feeling unifinication

Face car couplet setting, considering terminal unit the likelihood is in the area that covers without beehive net, each terminal unit besides have the be issued to lower levels on basic Uu mouth beyond communication ability, should have PC5 interface more (Sidelink) communication ability. Many terminal formed a distributed network through PC5 interface communication, in order to promote the communication of car and perception capability.

The design that has distributed side to transmit technology of eat dishes without rice or wine all right however considered the communication ability of acme only, did not consider to feel ability, make can high-powered Sidelink felt ability to become the mainest technique to challenge below the situation that if where,communication performance is not affecting on PC5 interface accordingly.

A kind of frame structure that should be pair of Sidelink to means undertakes buildup designing. Fall considering distributed setting, each terminal photograph is not fixed to the position, transmit to safeguard reliable information, existing Sidelink frame introduced AGC symbol in the structure, if pursue,8 are shown.

Before real data is transmitted, need makes automatic gain control, and what the specific content of general AGC symbol uses is duplicate the information of the 2nd symbol, so symbol of the first AGC does not have the effect that transmits significant information, so this symbol also felt ability to provide a space to Sidelink construction.

Structure of frame of graph 8 New Radio (NR) Sidelink is designed

A kind of direct method is, AGC sign use perception alignment has stuff, but the frequency domain bandwidth that current AGC symbol takes up is OK very small, and strong coupling of distance resolution of perception and signal bandwidth.

To make can taller perception precision, consider the AGC array of tectonic broadband, namely AGC symbol is held on frequency domain resource as far as possible wide bandwidth, if the graph is shown 9 times, AGC symbol can cut two shares in time domain, before one part is used at delivering the perceptive series of the broadband, one part is used at receiving perceptive echo signal after.

But take up on frequency domain when AGC when bigger bandwidth, many terminal unit can be on this bandwidth deliver perceptive series, each alignment is met overlay, cause mutual interference, be aimed at this problem, the perceptive series construction that can send different terminal becomes orthogonal broadband series, the ID that uses terminal for instance undertakes increasing trouble to alignment, when terminal receives the echo of alignment, filter gets rid of the interference signal of other terminal, receive perceptive echo, ensure the premise that affecting communication performance to fall thereby, make can feel ability.

Graph 9 broadbands AGC feels signal design

The synthesis of 5.5 be in harmony that face patulous target detection resemble

Connect feeling unifinication to aim to be all sorts of car couplet nets to apply those who offer crucial target object to detect, fixed position and classified ability. These target objects include car, pedestrian / blame motor vehicle / two rounds of autocycle (Vulnerable Road User, VRU) be secured with etc and mobile fraise.

Traditional 5G NR locates plan is aimed at the active object that can be sent or receives 5G NR signal to have fixed position only, under photograph comparing, next generation perception technologies can pass catoptric of analytic transmission environment wireless signal, undertake detecting to passive object, fixed position, identify.

One of challenges that car couplet feels ability to be faced with in net application are a lot of perception the target is the traffic with huge volume, its are exterior the surface extends several meters normally, be like end of car head, car and automobile body flank. Accordingly, perceptive target forms individual reflex in single position not only, can produce be apart to count the many reflex of rice however. Such target is called to expand normally target.

Accordingly, have observation through signal of the many reflex that arise to patulous target, scattering, can estimate the position of the target, position not only, also can conclude the appearance of the target and outline, become namely picture. When distributed base when the station has observation to this target with different perspective, each base the station forms estimation to be worth to the different position of car.

These estimation are worth as specific as target car flank (or part) should serve as a group relatively with specific base the scattering related the station orders part. As a result of every base the scattering drop that the station sees is different, apart counts the likelihood rice, because this needs the following measure to undertake data correlation, get together kind with fixed position:

(A) is different base the observation that the station passes pair of different scattering to nod, estimate the place that much scattering chooses. These positional estimation need and same object (car is in this exemple) relevant couplet, assemble in order to form the scattering place of this object correspondence. This is called normally get together kind (Clustering) .

Graph sketch map of 10 patulous target detection

(After B) gets expanding the scattering of the target kindles rally (form an object normally the outline of outside figure) , need determines the position of this target. Normally the circumstance falls, fixed position consults the center can be center of geometry of scattering dot aggregate; The as corresponding as target surface scattering spot market that perhaps reachs when observation is not whole when bringing about geometrical center to forbid, also can use other reference point.

Measure (A) and (B) can apply different patulous goal to handle algorithm to finish. These algorithm include to use bit of scattering aggregate mobile trends will implement an aim correlation and get together [17, 18] , and aftertreatment and photograph of target classification plan are united in wedlock [19] .

What need points out is, afore-mentioned active target fixed position is nonexistent expanding the problem of the target, because of active target send and the fixed position reference point that receving antenna port is target object namely, the position that its get on in the object is fixed.

In addition, use at V2X to collision detects or get used to cruise pilot tradition to feel a system oneself nonexistent also afore-mentioned problems, because they need to undertake detecting to the bulgiest part of target object or car in onefold perspective only, produce collision in order to avoid with this part of this object or car.

The 5.6 target detection that are based on small Duopule to detect and identify

If 5.5 place are narrated, target object identifies classification to apply to a lot of car couplet nets crucial, include all sorts of harmony to hold the safety application that accuse and protects VRU.

Target object identifies classification to be able to pass a variety of different kind to come true. A kind of direct method is the appearance that the dot scattering that uses perceptive observation to obtain will come to decide an object or outline (the car that shows like 4.1 place) , become namely picture. Want to acquire such image however, systematic need has observation to target object from much perspective, and have taller angle and deepness resolution, in order to obtain corresponding target object the collect of many bits of scattering of each surface.

Another kind does not need an object the method of whole picture is the much general that is based on perceptive signal straps parameter, the much general that creates by small movement of object interior component especially straps heft.

For example, the lamina that the high speed on the leg that when the person walks, swings, car or the wheel that rotate on the bicycle or unmanned aircraft rotates. The much general that the athletic speed of these athletic speed as a result of object interior component and object whole differs and creates straps heft to be called small Duopule. Graph 11 be in without man-machine to fly the small much general on limits section plane straps Duopule give typical examples [20] .

Graph 11 measure a target small much general straps give typical examples

Specific target object (pedestrian, car, bicycle) the interior that has different kind moves, form distinctive much general to strap a feature thereby. Use this feature at the identifying of target object and classification, need not undertake to target object from many angle detailed high resolution is become already like processing, can achieve higher accuracy rate again (> 90% ) character classification, example can refer to document [21] . The target identifying that is based on small Duopule classifies the image confluence of optional choose and inferior resolution, in order to raise the dependability that the object classifies.

6 summary and look into

Can foreknow, connect feeling unifinication technology to bring net of couplet giving a car the promotion of function and function. To achieve this goal, need solves the crucial technology problem in the many fields that use to superstratum from eat dishes without rice or wine, achieve expectant perception and communication requirement finally.

The integral design that knows feeling unifinication still needs to consider the complexity of wireless network and car couplet net, the mobile sex that for instance the car holds terminal unit, usable frequency paragraph (permissive frequency Duan Hefei allows frequency paragraph) , base of the deploy of the station, PC5 and Uu in coordination the respect such as the framework.

Besides the challenge related to the technology, a crucial and successful ingredient that understands feeling unifinication and code are relevant. Connected feeling unifinication system to expand perception of admeasure of original and special cent or intelligent traffic system (Intelligent Transportation System, ITS) the frequency of communication paragraph and use at shift / the permissive frequency of V2N communication network paragraph utility, in these frequency paragraph go up to at the same time implementation corresponds and feel a function to may be faced with close compasses issue.

And, once need the spectrum that reapportion is used at communication or feels, a feeling unifinication equipment that the car carries also need to upgrade, this meeting affects a car to carry the lifecycle that opens feeling unifinication facility.

In addition, because equipment of wireless range finding is passed,feeling is safe and crucial function, because this connects the solution of feeling unifinication to need to satisfy automobile safety grade (Automotive Safety Integrity Level, ASIL) requirement.

In the meantime, connect feeling unifinication system to need to support the network of different manufacturer and terminal unit, make its can be not had seam participate in and compositive in feeling a service. A feeling unifinication equipment that the setting of car couplet net asks to come from many manufacturer can mutual cooperation, run a side in interference especially. Accordingly, different the extensive deploy that the standardization of the function that connects feeling substance and interface did not come to to its is crucial.

 

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