Perception method and device and storage medium

Abstract

The invention provides a sensing method and device and a storage medium, relates to the technical field of communication, and can realize continuous sensing of a sensing target. The method comprises the following steps: acquiring position information of a sensing target; and determining a first terminal device based on the position information of the sensing target, the first terminal device being a terminal device for sensing the sensing target after the sensing device of the sensing target is switched.

Description

Technical Field

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

[0002] Communication sensing technology is to integrate communication technology and sensing technology to achieve the sensing of sensing targets while ensuring high-speed communication. In the sensing mode where a network device and a terminal device cooperate for sensing, the network device can send multiple sensing signals, which are scattered by the environment or the sensing target and then received by the terminal device as the scattered multiple echo signals, or the terminal device can send multiple sensing signals, which are scattered by the environment or the sensing target and then received by the network device as the scattered multiple echo signals, so as to achieve the sensing of the sensing target.

[0003] However, when the terminal device moves or the sensing target moves, the distance between the sensing target and the sensing node (for example, the terminal device) may be large, resulting in the situation that the sensing target cannot be detected and tracked, and thus it is difficult to determine the specific position of the sensing target, and it is difficult to continuously sense the sensing target. Summary of the Invention

[0004] This application provides a sensing method, apparatus, and storage medium, which can achieve continuous sensing of a sensing target.

[0005] To achieve the above object, this application adopts the following technical solutions:

[0006] In a first aspect, this application provides a sensing method applied to a network device, and the method includes: obtaining the location information of a sensing target; and determining a first terminal device based on the location information of the sensing target, where the first terminal device is the terminal device that senses the sensing target after the sensing device of the sensing target is switched.

[0007] In a possible implementation, obtaining the location information of the sensing target includes: monitoring the sensing target to determine the sensing information of the sensing target; the sensing information includes the current location, moving speed, and moving direction; and determining the location information of the sensing target based on the sensing information.

[0008] In a possible implementation, obtaining the location information of the sensing target includes: receiving second indication information from a second terminal device; the second terminal device is the terminal device that senses the sensing target before the sensing device of the sensing target is switched; and the second indication information carries the location information of the sensing target.

[0009] In a possible implementation manner, determining a first terminal device based on the location information of a sensed target includes: analyzing the location information of the sensed target based on big data analysis technology to obtain a preset angle and a preset distance; determining, from the terminal devices within a preset range, the terminal devices with preset sensing capabilities as the first terminal devices; the preset range is the range formed by the preset angle and the preset distance.

[0010] In a possible implementation manner, the method further includes: sending third indication information to a sensing network element; the third indication information is used to request the sensing network element to configure the configuration parameters required for the first terminal device to sense the sensed target; receiving fourth indication information from the sensing network element; the fourth indication information is used to indicate the configuration parameters required for the first terminal device to sense the sensed target.

[0011] In a possible implementation manner, the method further includes: sending first indication information to the first terminal device; the first indication information is used to indicate the first terminal device to sense the sensed target.

[0012] In a possible implementation manner, the first indication information is further used to indicate the configuration parameters required for the first terminal device to sense the sensed target.

[0013] In a possible implementation manner, the configuration parameters are used to configure a sensing reference signal and the resources for sending the sensing reference signal; the sensing reference signal is any one of a positioning reference signal PRS, a channel state information reference signal CSI-RS, or a sounding reference signal SRS; the resources for sending the sensing reference signal include at least one of the following: time domain, frequency domain, serial number, or quasi co-location relationship QCL.

[0014] In a second aspect, the present application provides a sensing device applied to a network device. The device includes: a communication unit and a processing unit; the communication unit is used to obtain the location information of a sensed target; the processing unit is used to determine a first terminal device based on the location information of the sensed target, and the first terminal device is the terminal device that senses the sensed target after the sensing device of the sensed target is switched.

[0015] In a possible implementation manner, the processing unit is further used to monitor the sensed target to determine the sensing information of the sensed target; the sensing information includes the current location, moving speed, and moving direction; the processing unit is further used to determine the location information of the sensed target based on the sensing information.

[0016] In a possible implementation manner, the communication unit is further used to receive second indication information from a second terminal device; the second terminal device is the terminal device that senses the sensed target before the sensing device of the sensed target is switched; the second indication information carries the location information of the sensed target.

[0017] In a possible implementation, the processing unit is further configured to analyze the location information of the sensed target based on big data analysis technology to obtain a preset angle and a preset distance; the processing unit is further configured to determine, from the terminal devices within a preset range, the terminal devices with a preset sensing capability as the first terminal devices; the preset range is the range formed by the preset angle and the preset distance.

[0018] In a possible implementation, the communication unit is further configured to send third indication information to the sensing network element; the third indication information is used to request the sensing network element to configure the configuration parameters required for the first terminal device to sense the sensed target; the communication unit is further configured to receive fourth indication information from the sensing network element; the fourth indication information is used to indicate the configuration parameters required for the first terminal device to sense the sensed target.

[0019] In a possible implementation, the communication unit is further configured to send first indication information to the first terminal device; the first indication information is used to indicate the first terminal device to sense the sensed target.

[0020] In a possible implementation, the first indication information is further used to indicate the configuration parameters required for the first terminal device to sense the sensed target.

[0021] In a possible implementation, the configuration parameters are used to configure the sensing reference signal and the resources for sending the sensing reference signal; the sensing reference signal is any one of the positioning reference signal PRS, the channel state information reference signal CSI-RS, or the sounding reference signal SRS; the resources for sending the sensing reference signal include at least one of the following: time domain, frequency domain, serial number, or quasi co-location relationship QCL.

[0022] In a third aspect, the present application provides a sensing device, which includes: a processor and a communication interface; the communication interface is coupled to the processor, and the processor is configured to run a computer program or instruction to implement the sensing method described in the first aspect and any possible implementation manner of the first aspect.

[0023] In a fourth aspect, the present application provides a computer-readable storage medium, in which instructions are stored, and when the instructions are run on a terminal, the terminal is caused to execute the sensing method described in the first aspect and any possible implementation manner of the first aspect.

[0024] In a fifth aspect, the present application provides a computer program product containing instructions, and when the computer program product runs on a sensing device, the sensing device is caused to execute the sensing method described in the first aspect and any possible implementation manner of the first aspect.

[0025] In a sixth aspect, the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is configured to run a computer program or instruction to implement the sensing method described in the first aspect and any possible implementation manner of the first aspect.

[0026] Specifically, the chip provided in the present application further includes a memory for storing a computer program or instruction.

[0027] In the sensing method provided by the embodiments of the present application, the network device can obtain the location information of the sensing target and determine a first terminal device based on the location information of the sensing target, so that the first terminal device can sense the sensing target after the sensing device of the sensing target is switched. Since the location information of the sensing target may affect the sensing effect of the sensing device on the sensing target, the network device determines the first terminal device for sensing the sensing target based on the location information of the sensing target, which can ensure that the first terminal device can sense the sensing target well after the sensing device of the sensing target is switched, so as to avoid the problem that the sensing target cannot be normally sensed, and thus can realize continuous sensing of the sensing target. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is an application scenario diagram of communication and sensing integration provided by the embodiments of the present application;

[0029] Figure 2 It is a schematic diagram of the network architecture of a sensing system provided by the embodiments of the present application;

[0030] Figure 3 It is a schematic diagram of the structure of a communication system provided by the embodiments of the present application;

[0031] Figure 4 It is a schematic diagram of the structure of a sensing device provided by the embodiments of the present application;

[0032] Figure 5 It is a flowchart of a sensing method provided by the embodiments of the present application;

[0033] Figure 6 It is a flowchart of another sensing method provided by the embodiments of the present application;

[0034] Figure 7 It is a schematic diagram of the structure of another sensing device provided by the embodiments of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The sensing method, device, and storage medium provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0036] As used herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, both A and B exist simultaneously, and B exists alone.

[0037] In the description of this application and the drawings, terms such as "first" and "second" are used to distinguish different objects or different treatments of the same object, rather than to describe a specific order of the objects.

[0038] In addition, the terms "comprising" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes other unlisted steps or units, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0039] It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to give examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0040] As an important technology in communication networks, communication-sensing integration technology can enable two independent functions, namely, communication function and sensing function, to coexist in the same system through means such as signal joint design and / or hardware sharing. In this way, while ensuring high-speed communication, it is possible to utilize the communication system and the reference signals of the communication system to monitor and track sensing targets (for example, unknown objects and known objects). Therefore, communication-sensing integration technology can be a candidate technology for the sixth-generation mobile communication technology (6G).

[0041] Figure 1It is an application scenario diagram for integrated communication and sensing. In this application scenario, the transmission modes of communication and sensing include the network device sensing mode and the terminal device sensing mode. For different transmission modes, the sending nodes and receiving nodes of the sensing signals are also different. For example, in the network device sensing mode, the first network device can send multiple sensing signals, and after being scattered by the environment or the sensing target, the first network device receives the multiple scattered sensing signals (i.e., echo signals). Another example is that in the network device sensing mode, the first network device can send multiple sensing signals, and after being scattered by the environment or the sensing target, the first network device and the second network device receive the multiple scattered echo signals. Another example is that in the network device sensing mode, the terminal device can send multiple sensing signals, and after being scattered by the environment or the sensing target, the network device receives the multiple scattered echo signals. Another example is that in the terminal device sensing mode, the network device can send multiple sensing signals, and after being scattered by the environment or the sensing target, the terminal device receives the multiple scattered echo signals. Another example is that in the terminal device sensing mode, the first terminal device can send multiple sensing signals, and after being scattered by the environment or the sensing target, the first terminal device and the second terminal device receive the multiple scattered echo signals. Another example is that in the terminal device sensing mode, the first terminal device can send multiple sensing signals, and after being scattered by the environment or the sensing target, the first terminal device receives the multiple scattered echo signals.

[0042] In a communication and sensing system, the network device can first determine the transmission mode of communication and sensing and determine the uplink and downlink signals required for this transmission mode. The network device can configure corresponding sensing signals for the sensing nodes (network devices and / or terminal devices) based on the uplink and downlink signals required for the above transmission mode, and send the sensing signals and receive the echo signals through the sensing nodes, and analyze and process the sensing signals to obtain sensing data.

[0043] Figure 2Shows a schematic diagram of the network architecture of a sensing system. In this schematic diagram, the network element functional entities in the sensing system include: unified data management (UDM), network data analytics function (NWDAF), location management function (LMF), policy control function (PCF), access and mobility management function (AMF), sensing function-consumer (SF-C), sensing function-user (SF-U), network exposure function (NEF), application function (AF), user equipment (UE), radio access network ((R)AN), user plane function (UPF), non-3rd generation partnership project access (N3GPP access), and 3rd generation partnership project-access gateway function (N3-AGF).Among them, the specific functions of the above network element functional entities are as follows: The UDM is responsible for managing the subscription data of users; the NWDAF is responsible for providing network analysis services; the LMF is responsible for performing positioning calculations on terminal devices; the PCF is responsible for user policy control, including session policies, mobility policies, etc.; the AMF is responsible for user access and mobility management; the SF is responsible for providing sensing services, including the selection of sensing nodes, the configuration and coordination of sensing resources, and the processing of sensing data, etc.; the NEF is responsible for opening the capabilities of the 5th generation mobile communication technology (5G) network to external systems; the AF is responsible for communicating with the core network to provide services for users; the UPF is responsible for user plane processing; the N3GPP access is responsible for connecting to the evolved packet core (EPC) in various ways according to the operator's business model and architecture preferences; the N3-AGF is responsible for connecting ordinary telephone users to the softswitch network.

[0044] The connection relationships of the above network element functional entities are as follows:

[0045] N1 interface: The N1 interface between the UE and the AMF.

[0046] Uu interface: The Uu interface between the UE and the (R)AN.

[0047] N2 interface: The N2 interface between the (R)AN and the AMF.

[0048] N3 interface: The N3 interface between the (R)AN and the UPF.

[0049] N5 interface: The N5 interface between the NEF and the PCF.

[0050] N8 interface: The N8 interface between the UDM and the AMF.

[0051] N33 interface: The N33 interface between the NEF and the AF.

[0052] The above briefly introduces the network architecture of the sensing system in this application.

[0053] In the sensing mode where the network device and the terminal device cooperate for sensing, the network device can send multiple sensing signals, which are scattered by the environment or the sensing target and then received by the terminal device as the above multiple scattered echo signals, or the terminal device can send multiple sensing signals, which are scattered by the environment or the sensing target and then received by the network device as the above multiple scattered echo signals, so as to realize the sensing of the sensing target.

[0054] However, when the terminal device moves or the sensed target moves, the distance between the sensed target and the sensing nodes (e.g., network devices and terminal devices) may be large, resulting in the inability to detect and track the sensed target, making it difficult to determine the specific location of the sensed target and thus difficult to continuously sense the sensed target.

[0055] In view of this, embodiments of the present application provide a sensing method. The network device can obtain the location information of the sensed target and determine a first terminal device based on the location information of the sensed target, enabling the first terminal device to sense the sensed target after the sensing device of the sensed target switches. Since the location information of the sensed target may affect the sensing effect of the sensing device on the sensed target, the network device determines the first terminal device for sensing the sensed target based on the location information of the sensed target, which can ensure that the first terminal device can sense the sensed target well after the sensing device of the sensed target switches, avoiding the problem that the sensed target cannot be normally sensed, and thus enabling continuous sensing of the sensed target.

[0056] The technical solutions provided by the embodiments of the present application can be applied to various communication systems, such as a new radio (NR) communication system adopting 5G, a future evolved system, or a multi-communication convergence system, etc.

[0057] Exemplarily, as Figure 3 shown, Figure 3 FIG. shows a schematic structural diagram of a communication system provided by an embodiment of the present application. The communication system includes: a network device 301 and a first terminal device 302. Figure 3 Taking the communication system including one network device 301 and one first terminal device 302 as an example for illustration.

[0058] The network device 301 is configured to obtain the location information of the sensed target and determine a first terminal device based on the location information of the sensed target.

[0059] The first terminal device 302 is configured to sense the sensed target after the sensing device of the sensed target switches.

[0060] Wherein, the first terminal device 302 is a terminal device that senses the sensed target after the sensing device of the sensed target switches.

[0061] In one example, the network device 301 may be a base station or a base station controller for wireless communication, etc. In the embodiments of the present invention, the network device 301 may be a base transceiver station (BTS) in a global system for mobile communication (GSM), a code division multiple access (CDMA) system, a node B (NB) in a wideband code division multiple access (WCDMA) system, an evolved Node B (eNB) in a Long Term Evolution (LTE) system, an eNB in an internet of things (IoT) or narrow band-internet of things (NB-IoT) system, a base station in a future 5G mobile communication network or a future evolved public land mobile network (PLMN). The embodiments of the present invention do not impose any restrictions on this.

[0062] In another example, the network device 301 may also be any one of a small base station, a wireless access point, a transmission receive point (TRP), a transmission point (TP), a micro operator, and some other access node.

[0063] In another example, the first terminal device 302 may be within the coverage area of the network device 301 and connected to the network device 301. The first terminal device 302 may be a terminal equipment, or a user equipment (UE), or a mobile station (MS), or a mobile terminal (MT), etc. Specifically, the terminal device may be a mobile phone, a tablet computer, or a computer with wireless transceiver functions. It may also be a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in remote medical treatment, a wireless terminal in a smart grid, a wireless terminal in a smart city, a smart home, a vehicle-mounted terminal, etc. In the embodiments of the present application, the device for implementing the functions of the terminal device may be the terminal device itself, or a device capable of supporting the terminal device to implement such functions, such as a chip or a chip system.

[0064] In a possible implementation manner, the communication system may further include a sensing network element. Exemplarily, the sensing network element may be responsible for sensing services. For example, it may detect and / or collect sensing data based on internal network requirements or the requirements of the demand side of the sensing service. It may also provide sensing services based on the sensing data, such as providing sensing services to the demand side of the sensing service, or optimizing the internal network based on the sensing data. Among them, the sensing network element may be one of the core network elements, such as one of the 5G core network elements, or the sensing network element may not be a core network element, such as an access network device or an external application server.

[0065] In another example, the above-mentioned sensing network element may be an SF network element. The SF network element is used to manage the sensing operations of the network device 301. For example, it receives the third indication information of the network device 301, participates in the negotiation process of cooperative sensing between the network device 301 and the first terminal device 302, and between the network device 301 and the second terminal device, and sends down configuration information related to sensing to the network device 301. The naming of the sensing functional network element in the embodiments of the present application is only exemplary, and the sensing functional network element may have other names, which are not limited herein.

[0066] It should be noted that Figure 3 it is only an exemplary framework diagram, Figure 3 the number of devices included therein, the names of each device are not limited, and in addition to Figure 3 the functional devices shown, the communication system may further include other devices, which are not restricted in the present application.

[0067] The application scenarios of the embodiments of this application are not limited. The system architecture and business scenarios described in the embodiments of this application are for more clearly explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those of ordinary skill in the art can know that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of this application are equally applicable to similar technical problems.

[0068] In specific implementation, Figure 3 the devices in Figure 4 can all adopt the Figure 4 shown composition structure, or include Figure 4 This is a schematic structural diagram of a sensing device 400 provided by an embodiment of this application. As Figure 4 shown, the sensing device 400 may include a processor 401 and a communication line 402.

[0069] Furthermore, the sensing device 400 may further include a communication interface 403 and a memory 404. Among them, the processor 401, the memory 404, and the communication interface 403 may be connected through the communication line 402.

[0070] Among them, the processor 401 is a CPU, a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 401 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0071] The communication line 402 is used to transmit information between the components included in the sensing device 400.

[0072] The communication interface 403 is used to communicate with other devices or other communication networks. The other communication network may be an Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. The communication interface 403 may be a module, a circuit, a communication interface, or any device capable of implementing communication.

[0073] The memory 404 is used to store instructions. Among them, the instructions may be computer programs.

[0074] Among them, the memory 404 can be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions. It can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, without limitation.

[0075] It should be noted that the memory 404 can exist independently of the processor 401 or be integrated with the processor 401. The memory 404 can be used to store instructions, program codes, or some data, etc. The memory 404 can be located inside the sensing device 400 or outside the sensing device 400, without limitation. The processor 401 is used to execute the instructions stored in the memory 404 to implement the sensing method provided in the following embodiments of the present application.

[0076] In one example, the processor 401 can include one or more CPUs. For example, CPU0 and CPU1.

[0077] As an alternative implementation, the sensing device 400 includes multiple processors.

[0078] As an alternative implementation, the sensing device 400 further includes an output device and an input device. Exemplarily, the output device is a device such as a display screen, a speaker, etc., and the input device is a device such as a keyboard, a mouse, a microphone, or a joystick, etc.

[0079] It should be noted that the sensing device 400 can be a desktop computer, a portable computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system, or a device with a Figure 4 similar structure. In addition, Figure 4 the shown composition structure does not constitute a limitation on each device in the Figure 3 and Figure 4 Among them. Except for the Figure 4 shown components, Figure 3 and Figure 4Each device in may include more or fewer components than shown in the figures, or combine certain components, or have a different component arrangement. In the embodiments of the present application, the chip system may be composed of chips, or may include chips and other discrete devices.

[0080] In addition, actions, terms, etc. involved among the embodiments of the present application can be referred to each other without limitation. In the embodiments of the present application, the message names or parameter names in the messages exchanged between various devices are only examples, and other names can also be used in specific implementations without limitation.

[0081] The following combines Figure 3 The communication system shown is used to describe the perception method provided by the embodiments of the present application. Among them, actions, terms, etc. involved among the embodiments of the present application can be referred to each other without limitation. In the embodiments of the present application, the message names or parameter names in the messages exchanged between various devices are only examples, and other names can also be used in specific implementations without limitation. The actions involved in the embodiments of the present application are only examples, and other names can also be used in specific implementations. For example, "included in" in the embodiments of the present application can also be replaced by "carried on" or "carried in", etc.

[0082] To solve the problems existing in the above-mentioned prior art, the embodiments of the present application propose a perception method that can achieve continuous perception of the perception target. As Figure 5 shown, the method includes:

[0083] S501. The network device obtains the location information of the perception target.

[0084] In some possible embodiments, the implementation process of the above S501 can be: the network device obtains the perception information of the perception target, and based on the perception information, determines the location information of the perception target, or the network device receives the location information of the perception target from the second terminal device.

[0085] Exemplarily, the above location information may include at least one of the following: longitude, latitude, or altitude. The above is only an exemplary description of the location information, and the above location information may also include other information, and the present application does not make any restrictions on this.

[0086] In a possible embodiment, the implementation process of the above S501 can be: the network device monitors the perception target, determines the perception information of the perception target, and based on the perception information, determines the location information of the perception target. Among them, the perception information includes the current location, moving speed, and moving direction.

[0087] It should be noted that in the case where the second terminal device sends a sensing signal and the network device receives an echo signal, the network device itself monitors the sensing target, determines the sensing information of the sensing target, and determines the location information of the sensing target based on the sensing information.

[0088] As an example, the above current location can be the location information of the sensing target at the current moment obtained during the process of the network device sensing the sensing target.

[0089] As a possible implementation manner, the implementation process of the network device determining the location information of the sensing target based on the sensing information can be: The network device can determine the moving speed of the sensing target and determine the distance that the sensing target may move within the target time period. The network device combines the current location of the sensing target and the distance that the sensing target may move within the target time period to determine at least one predicted location where the sensing target may appear at the target moment. The network device determines the information of the predicted location in the moving direction of the sensing target as the location information of the sensing target.

[0090] As another possible implementation manner, the implementation process of the network device determining the location information of the sensing target based on the sensing information can be: The network device determines the moving direction and the current location of the sensing target, and determines the predicted moving trajectory of the sensing target starting from the current location based on the moving direction and the current location of the sensing target. The network device determines the distance that the sensing target moves on the above predicted moving trajectory within the target time period based on the moving speed of the sensing target, and determines the location of the sensing target on the moving trajectory at the target moment. The network device determines the information of the location of the sensing target on the predicted moving trajectory at the target moment as the location information of the sensing target.

[0091] As an example, the above target moment can be a moment after the current moment, and the time period between the current moment and the target moment can be the target time period. The above target time period can be 10 minutes. The above is only an exemplary description of the target time period, and the above target time period can also be other time periods (for example, 20 minutes), and the present application does not make any restrictions on this.

[0092] It should be noted that the above is only an exemplary description of the implementation process of the network device determining the location information of the sensing target based on the sensing information. The implementation process of the network device determining the location information of the sensing target based on the sensing information may also include other implementation processes, and the present application does not make any restrictions on this.

[0093] It can be understood that in this embodiment, the network device monitors the sensing target to obtain the sensing information of the sensing target. In this way, when the resources of the second terminal device are limited or the power of the second terminal device is insufficient, the network device monitors the sensing target, which can save the resources of the second terminal device or reduce the power consumption of the second terminal device.

[0094] In another possible embodiment, the implementation process of S501 may also be: The second terminal device sends second indication information to the network device. Correspondingly, the network device receives the second indication information from the second terminal device. Here, the second terminal device is the terminal device that senses the sensing target before the sensing device of the sensing target is switched. The second indication information carries the location information of the sensing target.

[0095] It should be noted that in the case where the network device sends a sensing signal and the second terminal device receives an echo signal, the second terminal device monitors the sensing target to determine the sensing information of the sensing target, and based on the sensing information, determines the location information of the sensing target.

[0096] As a possible implementation manner, before the network device receives the second indication information from the second terminal device, the network device may predict the initial location of the sensing target, and determine the second terminal device based on the initial location of the sensing target, so that the second terminal device can monitor the sensing target, determine the sensing information of the sensing target, and send the determined location information of the sensing target to the network device.

[0097] In a possible implementation manner, the implementation process for the network device to determine the second terminal device may be: The network device may predict the initial location of the sensing target, and analyze the above initial location based on big data analysis technology to obtain a target angle and a target distance. The network device determines the range formed by the above target angle and target distance as the target range where the second terminal device may appear. The network device determines the terminal device with a preset sensing ability from the terminal devices within the above target range as the second terminal device.

[0098] It can be understood that when the network device has not yet determined the terminal device for sensing the sensing target, the network device may predict the initial location of the sensing target, and determine the target range based on the predicted initial location of the sensing target. The network device may select a second terminal device from within the target range, so that the second terminal device senses the sensing target and determines the sensing information of the sensing target.

[0099] It should be noted that when it is sensed that the target has moved, the network device can determine a target range based on the position of the sensed target after movement. After the sensed target has moved, if the second terminal device is not within the target range, the second terminal device may not be able to sense the sensed target well. Therefore, the network device can select the first terminal device to sense the sensed target. And after the sensed target has moved, if the second terminal device is still within the target range, the second terminal device can still sense the sensed target. Therefore, the network device can not determine the first terminal device and can receive the sensing information of the sensed target from the second terminal device.

[0100] In an example, the second indication information may be a Sensing Node Mobility Indication sent by the second terminal device to the network device. As shown in Table 1 below, Table 1 describes at least one of information element / group name (IE / group name), Presence, Range, or IE type and reference. The above-mentioned Sensing Node Mobility Indication may include: Message Type, identity document (ID) of the SF UE, Relative Geodetic Location, Velocity, Angle, and required sensing metrics. Among them, the required sensing metrics may include Velocity and / or Angle.

[0101] Combined with the above example, Relative Geodetic Location may include at least one of the following: Height Units, Delta Latitude, Delta Longitude, or Delta Height. The above is only an exemplary description of Relative Geodetic Location, and Relative Geodetic Location may also include other localizations, which are not limited in this application.

[0102] The enumerated type (ENUMERATED) of Height Units may include at least one of the following: millimeter (mm), centimeter (cm), or meter (m). The above is only an exemplary description of the ENUMERATED of Height Units. The ENUMERATED of Height Units may also include other types, and the present application does not impose any restrictions thereon.

[0103] The values of Delta Latitude, Delta Longitude, and Delta Height can be integers (INTEGER) between -1024 and 1023. The above is only an exemplary description of the values of Delta Latitude, Delta Longitude, and Delta Height. The values of Delta Latitude, Delta Longitude, and Delta Height may also be other values, and the present application does not impose any restrictions thereon.

[0104] Table 1

[0105]

[0106]

[0107] It should be noted that in the above example, the location information of the sensed target carried by the second indication information may be Relative Geodetic Location. Sensing Metrics can be used as sensing requirements to determine whether the terminal device has a preset sensing ability. Angle in Sensing Metrics can also be used to represent the moving direction of the sensed target. M is mandatory and can be used to indicate mandatory.

[0108] It can be understood that in this embodiment, the second terminal device obtains the sensing information of the sensed target and sends the second indication information to the network device. In this way, the network device does not need to monitor and track the sensed target, which can save the operating cost of the network device. And because the second terminal device has the characteristic of mobility, the second terminal device can obtain the sensing information of the sensed target more flexibly without being affected by the location of the sensed target.

[0109] In a possible implementation, the process of the network device predicting the initial position of the sensing target can be as follows: Based on the monitoring range of the network device and the historical movement trajectory of the sensing target, the network device determines the possible positions where the sensing target may appear, and determines the above possible positions where the sensing target may appear as the initial position. Among them, the monitoring range of the network device is determined based on the coverage range of the network device and the monitoring task.

[0110] In a possible implementation, the network device obtains the monitoring task of the network device, and determines that the range that needs to be sensed within the coverage range of the network device is the monitoring range. The network device predicts the possible positions where the sensing target may appear within the above monitoring range according to the historical movement trajectory of the sensing target, and determines the above possible positions where the sensing target may appear as the initial position of the sensing target.

[0111] As a possible implementation, in the case where the location information of the sensing target is within the coverage range of other network devices, the network device sends a request message to other network devices, so that other network devices determine the terminal device that senses the sensing target after the sensing device of the sensing target is switched, so as to ensure that when the sensing target moves to a position that the network device cannot monitor, other network devices can monitor the sensing target, and select the first terminal device to sense the sensing target, thereby ensuring continuous sensing of the sensing target.

[0112] S502. The network device determines the first terminal device based on the location information of the sensing target.

[0113] Among them, the first terminal device is the terminal device that senses the sensing target after the sensing device of the sensing target is switched.

[0114] In a possible embodiment, the implementation process of the above S502 can be as follows: The network device analyzes the location information of the sensing target based on big data analysis technology to obtain a preset angle and a preset distance, and determines, from the terminal devices within the preset range, the terminal devices with the preset sensing ability as the first terminal devices. Among them, the preset range is the range composed of the preset angle and the preset distance.

[0115] As a possible implementation, the process of the network device determining the preset range can be as follows: The network device inputs the location information of the sensing target based on big data analysis technology, determines the optimal angle and the optimal distance of the sensing terminal device, and determines the above optimal angle as the preset angle and the optimal distance as the preset distance. The network device determines the range composed of the above preset angle and preset distance as the preset range.

[0116] It can be understood that the network device determines the optimal angle and optimal distance of the sensing terminal device, which can enable the terminal devices within the determined preset range to have a better sensing effect on the sensing target. Consequently, the first terminal device selected from the terminal devices within the preset range also has a better sensing effect on the sensing target.

[0117] As a possible implementation manner, the implementation process of the network device determining the terminal device with the preset sensing ability as the first terminal device from the terminal devices within the preset range can also be as follows: Each of the multiple terminal devices connected to the network device reports its respective sensing ability to the sensing network element through the network device. The sensing network element receives the sensing ability of each of the above terminal devices and determines whether each terminal device can be used as a sensing node for communication sensing. When the terminal device can be used as a sensing node for communication sensing, the sensing network element determines whether the sensing ability of the terminal device meets the sensing requirements, and then determines whether the terminal device has the preset sensing ability. When the terminal device has the preset sensing ability, the sensing network element sends a ninth indication message to the network device. The ninth indication message is used to indicate that the terminal device is the first terminal device.

[0118] As an example, when the terminal device cannot be used as a sensing node for communication sensing, or the sensing ability of the terminal device does not meet the sensing requirements, the sensing network element determines that the terminal device does not have the preset sensing ability.

[0119] As a possible implementation manner, if there is no terminal device with the preset sensing ability among the multiple terminal devices connected to the network device, the network device can instruct the sensing network element to compare the sensing abilities of the above multiple terminal devices and determine the terminal device with relatively better sensing ability as the first terminal device.

[0120] In a possible implementation manner, when the sensing target moves, the network device can determine whether the movement of the sensing target will affect the sensing of the sensing target by the second terminal device. And when the movement of the sensing target does not affect the sensing of the sensing target by the second terminal device (that is, the second terminal device is still within the target range determined based on the position of the sensing target after movement), there is no need to determine the first terminal device, and thus there is no need to determine the preset range. This can avoid frequent switching of the terminal devices for sensing the sensing target, and thus avoid resource waste.

[0121] It can be understood that the first terminal device determines, from the terminal devices within a preset range, the terminal device with a preset sensing ability as the first terminal device, which can not only ensure that the first terminal device also has the ability to be a sensing node, but also avoid the situation where the determined first terminal device has a poor sensing effect on the sensing target, resulting in the need to reselect a new terminal device to sense the sensing target, thereby effectively reducing the number of times of switching terminal devices and reducing resource waste.

[0122] As a possible implementation manner, the implementation process for the network device to determine the first terminal device may include the following steps 1 to 3:

[0123] Step 1: The network device selects a third terminal device from the terminal devices within a preset range.

[0124] Wherein, the third terminal device is any one of the terminal devices within the preset range that can be used as a sensing node.

[0125] In a possible implementation manner, the implementation process of the above step 1 may be: The network device determines a preset range based on the location information of the sensing target and receives the sensing ability of each of at least one terminal device within the preset range. The network device determines whether each of the above terminal devices can be used as a sensing node for communication sensing. When the terminal device can be used as a sensing node for communication sensing, the network device may determine the terminal device as the third terminal device.

[0126] In another possible implementation manner, when the terminal device cannot be used as a sensing node for communication sensing, the network device determines that the terminal device is not the third terminal device.

[0127] As a possible implementation manner, if there is no terminal device within at least one terminal device within the preset range that can be used as a sensing node for communication sensing, the network device may compare the sensing ability of each of the at least one terminal device and determine the terminal device with relatively better sensing ability as the third terminal device.

[0128] Step 2: The network device sends fifth indication information to the sensing network element. Correspondingly, the sensing network element receives the fifth indication information from the network device.

[0129] Wherein, the fifth indication information is used to request the sensing network element to determine whether the sensing ability of the third terminal device meets the sensing requirements.

[0130] In a possible implementation, after the sensing network element receives the above-mentioned fifth indication information, it can verify the sensing capability of the third terminal device and determine whether the third terminal device can sense the sensing target. For example, when the sensing capability of the third terminal device meets the sensing requirements, the sensing network element determines that the third terminal device can sense the sensing target. For another example, when the sensing capability of the third terminal device does not meet the sensing requirements, the sensing network element determines that the third terminal device cannot sense the sensing target.

[0131] Step 3: When receiving the sixth indication information from the sensing network element, the network device determines that the third terminal device is the first terminal device.

[0132] Among them, the sixth indication information is triggered when the sensing capability of the third terminal device meets the sensing requirements.

[0133] It can be understood that when the sensing capability of the third terminal device does not meet the sensing requirements, the network device re-selects a third terminal device that meets the sensing requirements to sense the sensing target, which can realize continuous sensing of the sensing target and thus ensure the continuity of the sensing performance of the network device.

[0134] In one example, the sensing requirements may include at least one of the following: the sensing service type required by the network device when sensing the sensing target, the angle required by the network device when sensing the sensing target, the speed required by the network device when sensing the sensing target, or the distance required by the network device when sensing the sensing target. The above is only an exemplary description of the sensing requirements, and this application does not make any restrictions on this.

[0135] In a possible implementation, the implementation process for the sensing network element to determine whether the sensing capability of the third terminal device meets the sensing requirements can be as follows: The sensing network element can obtain the service types supported by the third terminal device and the sensing service type required by the network device when sensing the sensing target, and when the supported service type is the same as the sensing service type required by the network device when sensing the sensing target, it is determined that the sensing capability of the third terminal device meets the sensing requirements.

[0136] In another possible implementation, the implementation process for the sensing network element to determine whether the sensing capability of the third terminal device meets the sensing requirements can also be as follows: The sensing network element can obtain the angles supported by the third terminal device and the angle required by the network device when sensing the sensing target, and when the supported angles include the angle required by the network device when sensing the sensing target, it is determined that the sensing capability of the third terminal device meets the sensing requirements.

[0137] In another possible implementation, the implementation process for the sensing network element to determine whether the sensing capability of the third terminal device meets the sensing requirements can also be as follows: The sensing network element can obtain the speed supported by the third terminal device and the speed required for the network device to sense the sensing target. When the supported speed includes the speed required for the network device to sense the sensing target, it is determined that the sensing capability of the third terminal device meets the sensing requirements. The sensing network element can obtain the distance supported by the third terminal device and the distance required for the network device to sense the sensing target. When the supported distance includes the distance required for the network device to sense the sensing target, it is determined that the sensing capability of the third terminal device meets the sensing requirements.

[0138] In another possible implementation, the implementation process for the sensing network element to determine whether the sensing capability of the third terminal device meets the sensing requirements can also be as follows: The sensing network element can obtain the service type supported by the third terminal device, the angle supported by the third terminal device, the sensing service type required for the network device to sense the sensing target, and the angle required for the network device to sense the sensing target. When the supported service type is the same as the sensing service type required for the network device to sense the sensing target and the supported angle includes the angle required for the network device to sense the sensing target, it is determined that the sensing capability of the third terminal device meets the sensing requirements.

[0139] It should be noted that for the implementation process described above for the sensing network element to determine whether the sensing capability of the third terminal device meets the sensing requirements, they can be combined arbitrarily, and this application does not impose any restrictions on this.

[0140] It can be understood that in the process of the network device determining the terminal device with the preset sensing capability within the preset range as the first terminal device, the network device can request the sensing network element to verify the sensing capability of the third terminal device, which can ensure the sensing capability of the third terminal device, so as to ensure that the determined first terminal device meets the requirements for sensing the sensing target, thus avoiding the situation where the determined first terminal device cannot realize the sensing of the sensing target, and further realizing the continuous sensing of the sensing target.

[0141] In the sensing method provided by the embodiments of the present application, the network device can obtain the location information of the sensing target, and determine the first terminal device based on the location information of the sensing target, so that the first terminal device can sense the sensing target after the sensing device of the sensing target is switched. Since the location information of the sensing target may affect the sensing effect of the sensing device on the sensing target, the network device determines the first terminal device for sensing the sensing target based on the location information of the sensing target, which can ensure that the first terminal device can sense the sensing target well after the sensing device of the sensing target is switched, so as to avoid the problem that the sensing target cannot be sensed normally, and thus can realize continuous sensing of the sensing target.

[0142] In a possible embodiment, after the network device determines the first terminal device, the network device can send the first indication information to the first terminal device, so that the first terminal device can sense the sensing target. Based on Figure 5 On the basis of the method embodiment shown, this embodiment provides a possible implementation manner. Combining Figure 5 , as Figure 6 shown, the implementation process of the network device sending the first indication information to the first terminal device can be determined by the following S601.

[0143] S601. The network device sends the first indication information to the first terminal device. Correspondingly, the first terminal device receives the first indication information from the network device.

[0144] Among them, the first indication information is used to instruct the first terminal device to sense the sensing target.

[0145] In a possible implementation manner, after the first terminal device determines the first terminal device, the network device can request the sensing network element to configure resources for the first terminal device, and the network device distributes the configured resources to the terminal device, so that the first terminal device can realize sensing of the sensing target.

[0146] In a possible embodiment, the implementation process for the network device to obtain the configuration parameters required for the first terminal device to sense the sensing target can be: the network device sends the third indication information to the sensing network element and receives the fourth indication information from the sensing network element. Among them, the third indication information is used to request the sensing network element to configure the configuration parameters required for the first terminal device to sense the sensing target. The fourth indication information is used to indicate the configuration parameters required for the first terminal device to sense the sensing target.

[0147] It should be noted that the fourth indication information is triggered when the sensing capability of the first terminal device meets the sensing requirements.

[0148] In a possible embodiment, the first indication information is further used to indicate configuration parameters required for the first terminal device to sense a sensing target.

[0149] An example is that the third indication information sent by the network device to the sensing network element can be a Sensing Resource Configuration Request sent by the network device to the sensing network element. As shown in Table 2 below, Table 2 describes at least one of IE / group name, Presence, Range, or IE type and reference. The above sensing resource configuration request may include: Message Type, Source Cell Global ID, SF UE ID, Sensing Metrics, and UE Sensing Node Type. Among them, Sensing Metrics may include Velocity and Angle. UE Sensing Node Type may include Rx and Tx. The above is only an example of the sensing resource configuration request, and the above sensing resource configuration request may further include other information, and this application does not impose any restrictions thereon.

[0150] Table 2

[0151] IE / group name Presence Range IE type and reference Message Type M Source Cell Global ID M SF UE ID M Sensing Metrics >Velocity >Angle UE Sensing Node Type Rx / Tx

[0152] It should be noted that Rx is receive, which is used to represent the receiving node. Tx is transport, which is used to represent the sending node. M is mandatory, which can be used to indicate mandatory. O is Optional, which can indicate optional.

[0153] An example is that the fourth indication information sent by the sensing network element to the terminal device can be a Sensing Resource Configuration Response sent by the sensing network element to the terminal device. As shown in Table 3 below, Table 3 describes at least one of IE / group name, Presence, Range, or IE type and reference of the sensing resource configuration response. The above sensing resource configuration response may include: Message Type, Source Cell Global ID, SF UE ID, and the type of the selected sensing reference signal (CHOICE Sensing RS type). The above is only an example of the sensing resource configuration response, and the above sensing resource configuration response may further include other information, and this application does not impose any restrictions thereon.

[0154] Among them, the CHOICE Sensing RS type is at least one of a positioning reference signal (PRS), a channel state information-reference signal (CSI-RS), or a sounding reference signal (SRS). When the CHOICE Sensing RS type is PRS, the sensing resource configuration response may include an NR-DL-PRS-Resource ID. When the CHOICE Sensing RS type is CSI-RS, the sensing resource configuration response may include a CSI-Resource Config ID. When the CHOICE Sensing RS type is SRS, the sensing resource configuration response may include an SRS-Resource Config ID.

[0155] Table 3

[0156]

[0157]

[0158] It should be noted that, as shown in Table 3 above, when the first terminal device is a receiving node, the above CHOICE Sensing RS type is PRS or CSI-RS. When the first terminal device is a transmitting node, the above CHOICE Sensing RS type is SRS.

[0159] In a possible embodiment, the configuration parameters include a sensing reference signal and the resources for transmitting the sensing reference signal. Among them, the sensing reference signal is any one of PRS, CSI-RS, or SRS. The resources for transmitting the sensing reference signal include at least one of the following: time domain, frequency domain, serial number, or quasi co location (QCL).

[0160] It can be understood that when the network device requests the configuration parameters required for the first terminal device to sense a sensing target from the sensing network element, the sensing network element sends the above configuration parameters to the first terminal device. Based on the above configuration parameters, the first terminal device can obtain the resources for sensing the sensing target and can use the resources for sensing the sensing target to implement the sensing function and the sensing of the sensing target, ensuring the continuous sensing of the sensing target by the network device.

[0161] An example is that the first indication information can be the Sensing Node Mobility Confirm sent by the network device to the first terminal device. As shown in Table 4 below, Table 4 describes at least one of IE / group name, Presence, Range, or IE type and reference. The above Sensing Node Mobility Confirm may include: Message Type, SF UEID), and Sensing Result Confirm.

[0162] Table 4

[0163]

[0164] It should be noted that M stands for mandatory and can be used to indicate mandatory. When the network device determines that the first terminal device senses the sensing target, the Sensing Result Confirm in the Sensing Node Mobility Confirm sent by the network device to the first terminal device is Success, indicating that the first terminal device can sense the sensing target. When the network device determines that the first terminal device does not sense the sensing target, the Sensing Result Confirm in the Sensing Node Mobility Confirm sent by the network device to the first terminal device is Failure, indicating that the first terminal device does not sense the sensing target.

[0165] As a possible implementation, after the network device sends the first indication information to the first terminal device, the implementation process for the first terminal device to sense the sensing target can be: the network device sends a sensing signal to the first terminal device, and after being scattered by the environment or the sensing target, the first terminal device receives the echo signal corresponding to the above sensing signal.

[0166] In the sensing method provided by the embodiments of this application, during the process of sensing the sensing target, the network device can send the first indication information to the first terminal device, enabling the first terminal device to sense the sensing target. In this way, when the terminal device for sensing the sensing target changes, the first terminal device can promptly sense the sensing target in a timely manner to avoid the problem that the sensing target cannot be normally sensed, and thus continuous sensing of the sensing target can be achieved.

[0167] It can be understood that the above-mentioned perception method can be implemented by a perception device. In order to implement the above functions, the perception device includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the modules and algorithm steps of each example described in the embodiments disclosed in this article, the disclosed embodiments of this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the disclosed embodiments of this application.

[0168] The disclosed embodiments of this application can perform functional module division according to the perception device generated by the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the disclosed embodiments of this application is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0169] Figure 7 It is a schematic structural diagram of a perception device provided by an embodiment of the present invention. As Figure 7 shown, the perception device 70 can be used to execute Figure 5 - Figure 6 the perception method shown. The perception device 70 includes: a communication unit 701 and a processing unit 702.

[0170] The communication unit 701 is used to obtain the position information of the perception target; the processing unit 702 is used to determine a first terminal device based on the position information of the perception target, and the first terminal device is the terminal device that perceives the perception target after the perception device of the perception target is switched.

[0171] In a possible implementation manner, the processing unit 702 is further used to monitor the perception target and determine the perception information of the perception target; the perception information includes the current position, moving speed, and moving direction; the processing unit 702 is further used to determine the position information of the perception target based on the perception information.

[0172] In a possible implementation manner, the communication unit 701 is further used to receive second indication information from a second terminal device; the second terminal device is the terminal device that perceives the perception target before the perception device of the perception target is switched; the second indication information carries the position information of the perception target.

[0173] In a possible implementation, the processing unit 702 is further configured to analyze the location information of the sensed target based on big data analysis technology to obtain a preset angle and a preset distance; the processing unit 702 is further configured to determine, from the terminal devices within a preset range, the terminal devices with the preset sensing ability as the first terminal devices; the preset range is the range formed by the preset angle and the preset distance.

[0174] In a possible implementation, the communication unit 701 is further configured to send third indication information to the sensing network element; the third indication information is used to request the sensing network element to configure the configuration parameters required for the first terminal device to sense the sensed target; the communication unit 701 is further configured to receive fourth indication information from the sensing network element; the fourth indication information is used to indicate the configuration parameters required for the first terminal device to sense the sensed target.

[0175] In a possible implementation, the communication unit 701 is further configured to send first indication information to the first terminal device; the first indication information is used to instruct the first terminal device to sense the sensed target.

[0176] In a possible implementation, the first indication information is further used to indicate the configuration parameters required for the first terminal device to sense the sensed target.

[0177] In a possible implementation, the configuration parameters are used to configure the sensing reference signal and the resources for sending the sensing reference signal; the sensing reference signal is any one of the positioning reference signal PRS, the channel state information reference signal CSI-RS, or the sounding reference signal SRS; the resources for sending the sensing reference signal include at least one of the following: time domain, frequency domain, serial number, or quasi co-location relationship QCL.

[0178] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0179] The present disclosure also provides a computer-readable storage medium, on which instructions are stored. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the sensing method provided in the embodiments of the present disclosure above.

[0180] An embodiment of the present disclosure also provides a computer program product including instructions, which, when running on an electronic device, causes the electronic device to execute the perception method provided in the above embodiments of the present disclosure.

[0181] Among them, a computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a register, a hard disk, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above, or any other form of computer-readable storage medium well known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an application specific integrated circuit (ASIC). In the embodiments of the present application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0182] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A perception method, characterized in that, Applied to a network device, the method includes: Obtain the location information of a sensed target; Based on the location information of the sensed target, determine a first terminal device, where the first terminal device is the terminal device that senses the sensed target after the sensing device of the sensed target is switched.

2. The method according to claim 1, characterized in that The obtaining of the location information of the sensed target includes: Monitor the sensed target to determine the sensing information of the sensed target; the sensing information includes the current location, moving speed, and moving direction; Based on the sensing information, determine the location information of the sensed target.

3. The method according to claim 1, wherein The obtaining of the location information of the sensed target includes: Receive second indication information from a second terminal device; the second terminal device is the terminal device that senses the sensed target before the sensing device of the sensed target is switched; the second indication information carries the location information of the sensed target.

4. The method according to claim 1, wherein The determining of the first terminal device based on the location information of the sensed target includes: Based on big data analysis technology, analyze the location information of the sensed target to obtain a preset angle and a preset distance; From the terminal devices within a preset range, determine the terminal device with a preset sensing ability as the first terminal device; the preset range is the range formed by the preset angle and the preset distance.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Send third indication information to a sensing network element; the third indication information is used to request the sensing network element to configure the configuration parameters required for the first terminal device to sense the sensed target; Receive fourth indication information from the sensing network element; the fourth indication information is used to indicate the configuration parameters required for the first terminal device to sense the sensed target.

6. The method according to claim 5, wherein The method further includes: Send first indication information to the first terminal device; the first indication information is used to indicate the first terminal device to sense the sensed target.

7. The method according to claim 6, wherein The first indication information is further used to indicate the configuration parameters required for the first terminal device to sense the sensed target.

8. The method according to claim 6 or 7, characterized in that The configuration parameters are used to configure a sensing reference signal and the resources for sending the sensing reference signal; the sensing reference signal is any one of a positioning reference signal (PRS), a channel state information reference signal (CSI-RS), or a sounding reference signal (SRS); the resources for sending the sensing reference signal include at least one of the following: time domain, frequency domain, serial number, or quasi co-location relationship (QCL).

9. A sensing device, characterized in that, Applied to a network device, the apparatus includes: a communication unit and a processing unit; The communication unit is used to obtain the location information of a sensed target; The processing unit is used to determine a first terminal device based on the location information of the sensed target, where the first terminal device is the terminal device that senses the sensed target after the sensing device of the sensed target is switched.

10. The apparatus according to claim 9, wherein The processing unit is further used to monitor the sensed target to determine the sensing information of the sensed target; the sensing information includes the current location, moving speed, and moving direction; The processing unit is further used to determine the location information of the sensed target based on the sensing information.

11. The device according to claim 9, wherein: the communication unit is further configured to receive second indication information from a second terminal device; the second terminal device is a terminal device that senses the sensing target before the sensing device of the sensing target is switched; the second indication information carries the location information of the sensing target.

12. The device according to claim 9, wherein: the processing unit is further configured to analyze the location information of the sensing target based on big data analysis technology to obtain a preset angle and a preset distance; the processing unit is further configured to determine, from terminal devices within a preset range, a terminal device with a preset sensing ability as the first terminal device; the preset range is a range formed by the preset angle and the preset distance.

13. The device according to any one of claims 9-12, wherein: the communication unit is further configured to send third indication information to a sensing network element; the third indication information is used to request the sensing network element to configure configuration parameters required for the first terminal device to sense the sensing target; the communication unit is further configured to receive fourth indication information from the sensing network element; the fourth indication information is used to indicate the configuration parameters required for the first terminal device to sense the sensing target.

14. The device according to claim 13, wherein: the communication unit is further configured to send first indication information to the first terminal device; the first indication information is used to indicate the first terminal device to sense a sensing target.

15. The device according to claim 14, characterized in that, The first indication information is further used to indicate the configuration parameters required for the first terminal device to sense the sensing target.

16. The device according to claim 14 or 15, characterized in that, The configuration parameters are used to configure a sensing reference signal and the resources for sending the sensing reference signal; the sensing reference signal is any one of a positioning reference signal PRS, a channel state information reference signal CSI-RS, or a sounding reference signal SRS; the resources for sending the sensing reference signal include at least one of the following: time domain, frequency domain, serial number, or quasi co-location relationship QCL.

17. A sensing device, characterized in that, It includes: a processor and a communication interface; the communication interface is coupled to the processor, and the processor is configured to run a computer program or instruction to implement the sensing method described in any one of claims 1-8.

18. A computer-readable storage medium storing instructions therein, characterized in that, When the computer executes the instruction, the computer executes the sensing method described in any one of claims 1-8.

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