A method and device for perceiving a target object

Abstract

This application relates to the field of terminal technologies, and discloses a method and device for perceiving a target object, so as to perform more refined perception on the target object and obtain a more refined perception result. The first device sends a first perception result to the second device, where the first perception result is obtained by the first device perceiving the target object within a first frequency band range; the first device receives a second perception result fed back by the second device, where the second perception result is obtained by the second device perceiving the target object within a second frequency band range based on the first perception result, and the first frequency band range is different from the second frequency band range; the first device determines state information of the target object according to the first perception result and the second perception result. By perceiving the target object on different frequency bands, a more refined perception result can be obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of terminals, and in particular, to a method and device for sensing a target object. Background Art

[0002] Wireless Local Area Network (WLAN) Sensing is a technology for motion detection using WLAN signals. Physical devices can utilize the ability of radio to measure and sample the surrounding environment to extract information about the surrounding environment.

[0003] The existing IEEE 802.11 series standards include mainstream low-frequency band (e.g., 2.4 GHz and 5 GHz) related standards (e.g., 802.11n, 802.11ac, 802.11ax, etc.) and high-frequency band (e.g., 60 GHz) related standards (e.g., 802.11ad, 802.11ay). Physical devices can use WLAN Sensing technology to sense target objects based on these standards. Existing WLAN Sensing generally only operates in the low frequency or high frequency, and cannot perform more refined sensing on target objects, resulting in poor sensing results. Summary of the Invention

[0004] Embodiments of the present application provide a method and device for sensing a target object, so as to perform more refined sensing on the target object and achieve a more refined sensing result.

[0005] In a first aspect, a method for sensing a target object is provided, including the following processes: a first device sends a first sensing result to a second device, where the first sensing result is obtained by the first device sensing the target object within a first frequency band range; the first device receives a second sensing result fed back by the second device, where the second sensing result is obtained by the second device sensing the target object within a second frequency band range based on the first sensing result, and the first frequency band range and the second frequency band range are different; the first device determines state information of the target object according to the first sensing result and the second sensing result.

[0006] As the initiator of the sensing process, the first device can first sense the target object within its own first frequency band range, send the first sensing result to the second device, and the second device senses the target object within its own second frequency band range based on the first sensing result to obtain a sensing result. Since the first frequency band range and the second frequency band range are different, the first device can fuse the sensing results within at least two frequency band ranges to obtain a more refined sensing result.

[0007] It should be noted that, in the embodiments of the present application, only the initiator is taken as an example for fusion. In the actual sensing process, the participant can also perform the fusion of multiple sensing results, as long as the initiator and the participant negotiate well before the sensing process.

[0008] In a possible design, the first frequency band range is the low-frequency range of the first device; the second frequency band range is the high-frequency range of the second device.

[0009] In this design, the WLAN Sensing process can be based on high-low frequency cooperation. Through the sharing of sensing results between high and low frequencies, high-frequency sensing can be carried out on the basis of low-frequency sensing results, saving the time of high-frequency omnidirectional scanning, effectively improving the sensing range of high frequencies, and improving the detection accuracy.

[0010] In a possible design, the first device can also send first indication information to a third device, and the first indication information is used to mobilize or request the third device to sense the target object; the first device can also receive a third sensing result fed back by the third device, and the third sensing result is obtained by the third device sensing the target object within a third frequency band range, and the third frequency band range is different from the first frequency band range.

[0011] The second device and the third device can be regarded as participants in the sensing process.

[0012] In this design, if a device that supports sensing is detected near the target object, it can be temporarily mobilized or requested to participate in the original sensing process (i.e., the sensing process before the device joins), and thus a more accurate and detailed sensing result can be obtained. And in the present application, devices participating in sensing can be added at any time during the sensing process to achieve different sensing accuracies to meet the requirements for sensing accuracy of different application requirements or different service requirements, and it will not affect the original sensing process.

[0013] In a possible design, the third frequency band range is the high-frequency range of the third device.

[0014] In a possible design, before the first device receives the third sensing result fed back by the third device, the first device can also send second indication information to the third device, and the second indication information is used to schedule the third device into the SP, where the SP is the SP where the second device is located, or the SP assigned to the third device.

[0015] Optionally, if the first device is an AP, the first device can directly schedule the third device into the same SP as the first device and the second device, or the first device can allocate a new SP for the third device.

[0016] Alternatively, if the first device is a STA, the third device may actively apply to the associated AP for an extended SP, and the associated AP allocates a new SP to the third device.

[0017] In a possible design, the first device may also send third indication information to the second device and the third device. The third indication information is used to instruct the second device and the third device to feedback the sensing result, or the third device indication information is used to instruct the second device and the third device to poll and feedback the sensing result.

[0018] In a possible design, the first sensing result includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, or the signal strength of the target object received by the first device.

[0019] In a possible design, when the first device sends the first sensing result, the first device may send a first instruction. The first instruction carries the first sensing result and is used to instruct the participants to sense the target object based on the first sensing result.

[0020] The first instruction may also carry the frequency band range of the participant, which is used to instruct the participant to sense the target object within the frequency band range of the participant based on the first sensing result. For example, the frequency band range of the participant may include the second frequency band range of the second device and / or the third frequency band range of the third device.

[0021] The first instruction may also carry feedback indication information, which is used to instruct the participant (including the second device and / or the third device) to feedback the sensing result in the high-frequency range or the low-frequency range of the first device, that is, to instruct the participant to feedback the second sensing result within which frequency band range of the first device.

[0022] Optionally, a new frame structure, the WLAN Sensing Indication frame, is designed in this application. The first instruction may be the WLAN Sensing Indication frame.

[0023] In a possible design, when the first device sends the first indication information to the third device, the first device sends a second instruction to the third device. The second instruction carries the first indication information.

[0024] The second instruction may further include one or more of the following information: frequency band information, channel information, the first sensing result, feedback indication information, the role of the first device, sensing duration, sensing interval, or sensing mode.

[0025] Optionally, a new frame structure, namely the WLAN Sensing request frame, is designed in this application, and the second instruction may be the WLAN Sensing Request frame.

[0026] In a possible design, when the first device receives the sensing result fed back by the participant, the first device may receive a third instruction sent by the participant, and the third instruction carries the sensing result of the participant. For example, the sensing result of the participant may include the second sensing result of the second device and / or the third sensing result of the third device.

[0027] The third instruction may further include one or more of the following information: the distance between the target object and the participant (including the second device and / or the third device), the angle of the target object relative to the participant (including the second device and / or the third device), the moving speed of the target object, the sector where the target object is located, frequency band bandwidth, or feedback indication information.

[0028] Optionally, a new frame structure, namely the WLAN Sensing feedback frame, is designed in this application, and the third instruction may be the WLAN Sensing Feedback frame.

[0029] In a possible design, when the first device sends the third indication information to the participant, the first device may send a fourth instruction to the participant, and the fourth instruction carries the third indication information, and the fourth instruction is used to instruct the participant to poll and feedback the sensing result. For example, the fourth instruction is used to instruct the second device and the third device to poll and feedback the sensing result.

[0030] The fourth instruction may further include one or more of the following information: sequence control information, timestamp control information, distance indication information between the target object and the participants (including the second device and / or the third device), angle indication information of the target object relative to the participants (including the second device and / or the third device), moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information. Among them, the distance indication information is used to instruct the participants to feedback the distance between the target object and the participants, the angle indication information is used to instruct the participants to feedback the angle between the target object and the participants, the moving speed indication information is used to instruct the participants to feedback the moving speed of the target object, the sector indication information is used to instruct the participants to feedback the sector where the target object is located, and the frequency band bandwidth indication information is used to instruct the frequency band range for the participants to perform sensing.

[0031] Optionally, a new frame structure, WLAN Sensing Poll frame, is designed in this application, and the fourth instruction may be the WLAN Sensing Poll frame.

[0032] In a possible design, when the first device sends the third indication information to the participants, the first device may send a fifth instruction to the participants. The fifth instruction carries the third indication information, and the fourth instruction is used to instruct the participants to feedback the sensing result. For example, the fifth instruction is used to instruct the second device and the third device to feedback the sensing result.

[0033] The fifth instruction may further include one or more of the following information: distance indication information between the target object and the participants (including the second device and / or the third device), angle indication information of the target object relative to the participants (including the second device and / or the third device), moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0034] Optionally, a new frame structure, WLAN Sensing Trigger frame, is designed in this application, and the fifth instruction may be the WLAN Sensing Trigger frame.

[0035] In a possible design, the in-channel tunneling OCT technology is used between the initiator (such as the first device) and the participants (such as the second device and / or the third device) to share information between high frequencies and low frequencies, so that WLAN Sensing can seamlessly switch between high and low frequencies, saving the frequency band switching time and improving the switching success rate.

[0036] The OCT technology can also support broadcasting or multicasting, enabling the first device to simultaneously send the low-frequency sensing results to the high frequencies of multiple devices for high-frequency sensing of the target object. In this way, more-dimensional information of the target object can be obtained, and the sensing results of the target object are more accurate and refined.

[0037] Moreover, by using the OCT technology, the time occupied by air transmission (i.e., the transmission of the air interface) can be reduced, the transmission overhead can be lowered, and the degradation of network performance can be avoided.

[0038] In a second aspect, a method for sensing a target object is provided, including the following process: The second device receives a first sensing result, which is obtained by the first device sensing the target object within a first frequency band range; the second device feeds back a second sensing result to the first device, which is obtained by the second device sensing the target object within a second frequency band range based on the first sensing result, and the first frequency band range is different from the second frequency band range.

[0039] In a possible design, the first frequency band range is the low-frequency range of the first device; the second frequency band range is the high-frequency range of the second device.

[0040] In a possible design, before the second device feeds back the second sensing result to the first device, the second device may further receive third indication information from the first device, and the third indication information is used to indicate the participant to feed back the sensing result or to indicate the participant to poll and feed back the sensing result.

[0041] In a possible design, the first sensing result includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, or the signal strength of the target object received by the first device.

[0042] In a possible design, when the second device receives the first sensing result, the second device may receive a first instruction, and the first instruction carries the first sensing result, and the first instruction is used to indicate the participant to sense the target object based on the first sensing result.

[0043] The first instruction may further carry the frequency band range of the participant, which is used to indicate the participant to sense the target object within the frequency band range of the participant based on the first sensing result. For example, the frequency band range of the participant may include the second frequency band range of the second device and / or the third frequency band range of the third device.

[0044] The first instruction may also carry feedback indication information, which is used to indicate whether the participant feeds back the perception result in the high-frequency range or the low-frequency range of the first device, that is, to indicate in which frequency band range of the first device the participant feeds back the second perception result.

[0045] In a possible design, when the second device feeds back the second perception result to the first device, the second device may send a third instruction to the first device, and the third instruction carries the second perception result.

[0046] The third instruction may further include one or more of the following information: the distance between the target object and the second device, the angle of the target object relative to the second device, the moving speed of the target object, the sector where the target object is located, the frequency band bandwidth, or the feedback indication information.

[0047] In a possible design, when the second device receives the third indication information from the first device, the second device may receive a fourth instruction, and the fourth instruction carries the third indication information, and the fourth instruction is used to instruct the participant to poll and feed back the perception result.

[0048] The fourth instruction may further include one or more of the following information: sequence control information, timestamp control information, distance indication information between the target object and the participant, angle indication information of the target object relative to the participant, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0049] In a possible design, when the second device receives the third indication information from the first device, the second device may receive a fifth instruction, and the fifth instruction carries the third indication information, and the fifth instruction is used to instruct the participant to feed back the perception result.

[0050] The fifth instruction may further include one or more of the following information: distance indication information between the target object and the participant, angle indication information of the target object relative to the participant, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0051] In a third aspect, a method for perceiving a target object is provided, including the following process: a third device receives first indication information, and the first indication information is used to mobilize or request the third device to perform perception; the third device feeds back a third perception result to a first device, and the third perception result is obtained by the third device perceiving the target object within a third frequency band range.

[0052] In a possible design, the third frequency band range is the high-frequency range of the third device.

[0053] In a possible design, before the third device feeds back the third sensing result to the first device, the third device may also receive second indication information from the first device, where the second indication information is used to schedule the third device into the SP, and the SP is the SP where the second device is located, or the SP assigned to the third device.

[0054] Optionally, if the first device is an AP, the first device may directly schedule the third device into the same SP as the first device and the second device, or the first device may assign a new segment of SP to the third device.

[0055] In a possible design, before the third device feeds back the third sensing result to the first device, the third device may also send first request information to the AP, where the first request information is used to request the AP to assign an SP to the third device, and the AP is associated with the third device, that is, the AP is the associated AP of the third device.

[0056] Optionally, the first device is a STA.

[0057] In a possible design, before the third device feeds back the third sensing result to the first device, the third device may also receive third indication information from the first device, where the third indication information is used to instruct the second device and the third device to feed back sensing results, or the third device indication information is used to instruct the second device and the third device to poll and feed back sensing results.

[0058] In a possible design, when the third device receives the third indication information, the third device receives a fourth instruction, and the fourth instruction carries the third indication information, and the fourth instruction is used to instruct the participants to poll and feed back sensing results.

[0059] The fourth instruction may further include one or more of the following information: sequence control information, timestamp control information, distance indication information between the target object and the participant, angle indication information of the target object relative to the participant, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0060] In a possible design, when the third device receives the third indication information, the third device receives a fifth instruction, and the fifth instruction carries the third indication information, and the fifth instruction is used to instruct the participants to feed back sensing results. For example, the fifth instruction is used to instruct the second device and the third device to feed back sensing results.

[0061] The fifth instruction may further include one or more of the following information: distance indication information between the target object and the participant (including the second device and / or the third device), angle indication information of the target object relative to the participant (including the second device and / or the third device), moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0062] In a possible design, the first sensing result includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, or the signal strength of the target object received by the first device.

[0063] In a fourth aspect, a device for sensing a target object is provided. The device provided in this application has the functions of the devices in the above method aspects, and includes components (means) corresponding to the steps or functions described in the above method aspects. The steps or functions can be implemented by software, or by hardware (such as a circuit), or by a combination of hardware and software.

[0064] In a possible design, the above device includes one or more processors and a communication unit. The one or more processors are configured to support the device to execute the corresponding functions of the device in the above method.

[0065] Optionally, the device may further include one or more memories, which are used to be coupled with the processor and store necessary program instructions and / or data of the device. The one or more memories may be integrated with the processor or separately provided from the processor. This application does not limit this.

[0066] In another possible design, the above device includes a transceiver, a processor, and a memory. The processor is used to control the transceiver or the input / output circuit to transmit and receive signals, the memory is used to store a computer program, and the processor is used to run the computer program in the memory, so that the device executes the methods completed by the devices in any possible implementation manner in each aspect.

[0067] In a possible design, the above device includes one or more processors and a communication unit. The one or more processors are configured to support the device to execute the corresponding functions of the device in the above method.

[0068] Optionally, the device may further include one or more memories for coupling with the processor, which store necessary program instructions and / or data of the device. The one or more memories may be integrated with the processor or separately provided from the processor. This application does not limit this.

[0069] The device may be located in a device or be a device.

[0070] In another possible design, the above device includes a transceiver, a processor, and a memory. The processor is used to control the transceiver or the input / output circuit to transmit and receive signals, the memory is used to store computer programs, and the processor is used to run the computer programs in the memory, so that the device executes the methods completed by the device in any possible implementation manner in each aspect.

[0071] In a fifth aspect, a computer-readable storage medium is provided for storing a computer program, and the computer program includes instructions for executing the methods in any possible implementation manner in each aspect.

[0072] In a sixth aspect, a computer program product is provided. The computer program product includes: computer program code, which, when running on a computer, causes the computer to execute the methods in any possible implementation manner in the above aspects.

[0073] In a seventh aspect, a communication system is provided, and the system includes the above first device and second device.

[0074] Optionally, the system may further include a third device.

[0075] In an eighth aspect, this application provides a chip system, which includes a transceiver for implementing the functions of the device in the methods in the above aspects. For example, for receiving or transmitting data and / or information involved in the above methods. In a possible design, the chip system further includes a memory for storing program instructions and / or data. The chip system may be composed of chips or may include chips and other discrete devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The following briefly introduces the drawings required for the description of the embodiments.

[0077] Figure 1 It is a schematic diagram of the communication process of an OCT technology;

[0078] Figure 2 It is a schematic diagram of the frame structure of an OCT primitive;

[0079] Figure 3 It is an architecture diagram of the network system applicable to the embodiments of this application;

[0080] Figure 4 It is a schematic diagram of a perception result;

[0081] Figure 5 It is a schematic diagram of a perception result;

[0082] Figure 6 It is a schematic diagram of a perception result;

[0083] Figure 7 It is a schematic diagram of a process for perceiving a target object applicable to an embodiment of the present application;

[0084] Figure 8 It is a schematic diagram of a frame structure for perceiving an indication frame applicable to an embodiment of the present application;

[0085] Fig. 9 It is a schematic diagram of a frame structure for perceiving a polling feedback frame applicable to an embodiment of the present application;

[0086] Fig.10 It is a schematic diagram of a frame structure for perceiving a request frame applicable to an embodiment of the present application;

[0087] Fig.11 It is a schematic diagram of a process for perceiving a target object applicable to an embodiment of the present application;

[0088] Fig.12 It is a schematic diagram of a frame structure for perceiving a feedback frame applicable to an embodiment of the present application;

[0089] Fig.13 It is a schematic diagram of an OCT frame structure applicable to an embodiment of the present application;

[0090] Fig.14 It is a schematic diagram of a process for perceiving a target object applicable to an embodiment of the present application;

[0091] Fig.15 It is a schematic diagram of a process for perceiving a target object applicable to an embodiment of the present application;

[0092] Fig.16 It is a schematic diagram of a process for perceiving a target object applicable to an embodiment of the present application;

[0093] Fig.17 It is a schematic diagram of a process for perceiving a target object applicable to an embodiment of the present application;

[0094] Fig.18 It is a structural diagram of a device for perceiving a target object applicable to an embodiment of the present application;

[0095] Fig.19 It is a structural diagram of a device for perceiving a target object applicable to an embodiment of the present application. Detailed implementation manners

[0096] The present application will be further described in detail below with reference to the accompanying drawings.

[0097] The present application will present various aspects, embodiments or features around a system that may include multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all the devices, components, modules, etc. discussed in connection with the accompanying drawings. In addition, combinations of these solutions may also be used.

[0098] In addition, in the embodiments of the present application, the term "exemplary" is used to mean an example, illustration or description. Any embodiment or design solution described as "exemplary" in the present application should not be construed as being more preferred or more advantageous than other embodiments or design solutions. Rather, the term "exemplary" is intended to present concepts in a concrete manner.

[0099] The network architecture and service scenarios described in the embodiments of the present application are for the purpose of more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those of ordinary skill in the art will know that with the evolution of the network architecture and the emergence of new service scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0100] The following explains some terms used in the embodiments of the present application to facilitate the understanding of those skilled in the art.

[0101] 1) WLAN Sensing technology is a technology that uses WLAN signals for motion detection. WLAN Sensing is built on existing WLAN standards, hardware, infrastructure and deployments, and is applicable to the perception of target objects in indoor environments. Physical devices (which may be simply referred to as devices) can utilize the ability of radio to measure and sample the surrounding environment to extract information about the surrounding environment. A WLAN network consists of multiple devices within a given communication range, and a multi-static radar system can be formed using all the transmitters (referring to multiple devices that send signals). Each device can detect motion and provide information. This information can be used to detect target objects.

[0102] In the process of perceiving a target object, the device that initiates the perception can be called the initiator, and the devices that participate in the perception can be called the participants. Among them, the participants can include devices that join the perception process from the beginning, or can also include devices that are temporarily mobilized to participate in the perception.

[0103] The IEEE 802.11 series of standards include standards related to the mainstream low-frequency bands (e.g., 2.4 GHz and 5 GHz) (such as 802.11n, 802.11ac, 802.11ax, etc.) and standards related to high-frequency bands (e.g., 60 GHz) (such as 802.11ad, 802.11ay). WLAN Sensing can be performed based on the IEEE 802.11 series of standards. Each of the low-frequency band and the high-frequency band has its own advantages and disadvantages in performing WLAN Sensing. For example, the low-frequency band has a large sensing range, limited bandwidth, and low detection accuracy; the high-frequency band has a limited sensing range, extremely wide bandwidth, and high detection accuracy. The future wireless local area network will be a complex and comprehensive network. In this application, by combining the advantages of the low-frequency band and the high-frequency band and making full use of the opportunity for mutual cooperation between the high-frequency band and the low-frequency band when performing WLAN Sensing, a more reasonable and efficient high-low frequency cooperative WLAN Sensing mechanism is designed to provide a more robust and faster WLAN Sensing service.

[0104] It can be understood that the process of sensing the target object in the embodiments of this application can also be understood as the process of measuring the target object. The process of sensing the target object in this application includes at least two sub-processes: the Sensing stage and the feedback (Feedback) stage.

[0105] 2) The device, also referred to as a physical device, wireless device, or node in the embodiments of this application, is a device used to assist users in selecting and controlling various smart home devices at home, including smart home devices (such as smart TVs, smart speakers, etc.) and the terminals used by users, and may also include third-party devices such as routers to which home devices are connected. The role of the device in this application can also include an access point (AP) and / or a station (STA).

[0106] Smart Home Devices: Refers to various home devices applied in smart homes. For example, they can be smart anti-theft series products. The smart anti-theft series products mainly coordinate various alarms and detectors to trigger alarm information in the armed state, playing a role in security and anti-theft. They can also be smart lighting products. Users can directly view and control the on / off status of home lighting devices through terminals such as mobile phones and tablets. They can also be home appliance control products. The smart home appliance controller can associate infrared wireless signals and control any device using an infrared remote control through the terminal, such as TVs, air conditioners, electric curtains, etc. Additionally, they can be air quality sensors. Users can conveniently view the indoor temperature and humidity and environmental conditions monitored by the air quality sensors on the application program (APP) of the terminal, and can also link other electrical devices at home to improve the indoor environment, providing a better experience for users. They can also be smart phone door locks. Users only need to take out terminals such as mobile phones and tablets and enter the password to achieve automatic unlocking. At the same time, users can also remotely unlock for family members or visitors.

[0107] Router: Also known as a smart host or home gateway, it is a hardware device used to connect two or more networks, acting as a gateway between networks. It is a dedicated intelligent network device that reads the address of each data packet and then decides how to transmit it. The router can be easily controlled by users through wireless connection with the host using terminals such as mobile phones or tablets. Generally, the router provides a Wi-Fi hotspot, and smart home devices and terminals access the Wi-Fi network by connecting to the Wi-Fi hotspot of the router. The routers accessed by smart home devices and terminals can be the same or different.

[0108] Terminal: Refers to a device installed with a smart home APP and used to control smart home devices. For example, it can be a portable device, such as a mobile phone, tablet, artificial intelligence (AI) smart voice terminal, wearable device, augmented reality (AR) / virtual reality (VR) device, etc. Portable devices include but are not limited to those or other portable devices with other operating systems. Users can control smart home devices at home through the smart home APP installed on the terminal.

[0109] Optionally, in order to achieve high-frequency and low-frequency cooperation, the devices involved in the embodiments of the present application can support (at least two) transceiver modules at the same time, and (at least two) two transceiver modules can work at different frequencies respectively. One transceiver module works in the low-frequency band (such as 2.4 GHz and 5 GHz), and one transceiver module works in the high-frequency band (such as 6 GHz).

[0110] It can be understood that the signaling design and interaction process involved in this application can enhance the functions of devices supporting the high-low frequency cooperation framework protocol through software means.

[0111] On-Channel Tunneling (OCT) technology can enable a STA of a multi-band device to send medium access control management protocol data units (MMPDUs) constructed by different STAs of the same device. The station management entity (SME) of a multi-band device can instruct its MAC sublayer management entity (MLME) to use OCT services to communicate with the MLME of a peer multi-band device. The MLME of a STA that sends or receives an OCT MMPDU in the wireless medium is called a TR-MLME. Among the MLMEs of STAs that do not perform sending operations, the MLME that constructs the OCT MMPDU and the MLME that is the destination of the OCT MMPDU are called NT-MLMEs. The MMPDU is encapsulated to transmit the MMPDU to the MLME of a peer STA within the same multi-band device.

[0112] The communication process of OCT can be referred to Figure 1, the OCT process also involves primitive operations between frequency bands. The SME of the first multi-band device sends MLME-primitive request (primitive.req) information to the NT-MLME of the first multi-band device. The NT-MLME of the first multi-band device encapsulates the primitive request into an MLME-OCTunnel.request primitive and sends it. The MLME-OCTunnel.request primitive is used to request the transmission of an On-channel Tunnel Request frame (abbreviated as the MLME-OCTunnel.req primitive). The NT-MLME of the first multi-band device can also receive an MLME-OCTunnel.confirm primitive (abbreviated as the MLME-OCTunnel.cfm primitive). The MLME-OCTunnel.confirm primitive is used to report the result of the request to transmit the On-channel Tunnel Request frame. The MLME-OCTunnel.confirm primitive is an enumerated type, and the results include SUCCESS or FAILURE. The TR-MLME of the first multi-band device sends an On-channel Tunnel Request frame, and the On-channel Tunnel Request frame is used to transmit management frames between peer MLME entities of the multi-band device.

[0113] The TR-MLME of the second multi-band device sends an MLME-OCTunnel.indication primitive (abbreviated as the MLME-OCTunnel.Ind primitive), and the MLME-OCTunnel.indication primitive is used to indicate that an On-channel Tunnel Request frame has been received. The NT-MLME of the second multi-band device sends an MLME-primitive indication (primitive.ind) to the SME of the second multi-band device. The SME of the second multi-band device sends an MLME-primitive response (primitive.rsp). The NT-MLME of the second multi-band device encapsulates the primitive response into an MLME-OCTunnel.request primitive and sends it. The NT-MLME of the second multi-band device can also receive an MLME-OCTunnel.confirm primitive. The TR-MLME of the second multi-band device sends an On-channel Tunnel Request frame. The TR-MLME of the first multi-band device sends an MLME-OCTunnel.indication primitive, and the NT-MLME of the first multi-band device sends MLME-primitive confirmation (primitive.cfm) information to the SME of the first multi-band device.

[0114] The frame structure of the On-channel Tunnel Request frame is as follows Figure 2As shown, the On-channel TunnelRequest frame includes a MAC header field (occupying 16 bytes), a Category field (occupying 1 byte), an OCT MMPDU field (the number of bytes occupied is not fixed and variable), a Multi-band field (the number of bytes occupied is not fixed and variable), a Multi-band Source field (the number of bytes occupied is variable (not fixed and variable)), and a frame check sequence (FCS) (occupying 4 bytes). The OCT MMPDU field includes an MMPDU Length sub-field (occupying 2 bytes), an MMPDU Frame Control sub-field (occupying 2 bytes), and an MMPDU Frame Body (the number of bytes occupied is not fixed and variable). The Multi-band field includes an Element ID sub-field (occupying 1 byte), a Length sub-field (occupying 1 byte), a Multi-band Control sub-field (occupying 1 byte), a Band ID sub-field (occupying 1 byte), an Operating class sub-field (occupying 1 byte), a Channel Number sub-field (occupying 1 byte), a basic service set identifier (BSSID) sub-field (occupying 1 byte), and a BeaconInterval sub-field (occupying 2 bytes), where the BSSID is generally used to represent the MAC address of the AP. The Multi-band Source field includes a timing synchronization function (TSF) Offset sub-field (occupying 8 bytes), a Multi-band Connection Capability sub-field (occupying 1 byte), an FST Session Timeout sub-field (occupying 1 byte), a STA MAC Address sub-field (occupying 0 bytes or 6 bytes), a Pairwise Cipher Suite Count sub-field (occupying 0 bytes or 2 bytes), and a Pairwise Cipher Suite List sub-field (occupying 0 bytes or 4*m bytes), where m is a positive integer.

[0115] The "and / or" in this application describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The multiple referred to in this application means two or more.

[0116] In the description of this application, terms such as "first" and "second" are only used for the purpose of distinguishing descriptions, and should not be understood as indicating or implying relative importance, nor as indicating or implying an order. Additionally, in the embodiments of this application, the term "exemplary" is used to mean as an example, illustration, or explanation. Any embodiment or implementation described as "exemplary" in this application should not be construed as being more preferred or having more advantages than other embodiments or implementations. Rather, the use of the term "exemplary" is intended to present concepts in a specific manner.

[0117] For ease of understanding, in the embodiments of this application, Figure 3 the following takes the Figure 3 shown sensing system as an example to illustrate the application scenarios of this application. As Figure 3 shown, the sensing process is mainly applied to the scenario of an indoor wireless local area network. The network of the indoor wireless local area network may include devices that only support low frequency (LF), devices that only support high frequency (HF), and devices that support low and high frequency collaboration (or multi-band devices). The sensing process is completed by at least two nodes. One node is used to "illuminate" the environment (which can also be called a lighting device or lighting node or initiator), such as Figure 3 the first device (Device 1) in Figure 3 , that is, to transmit an initial sensing signal. The sensing signal is reflected by the target object, and other nodes sample the sensing signal and the reflected sensing signal (which can also be called sensing devices, or sensing nodes, or WLAN Sensing nodes or participants), such as Figure 3 the second device (Device 2) and the third device (Device 3) in

[0118] to complete the sensing of the target object ( Figure 4The following shows the process of passive sensing. The illuminator node sends Wi-Fi data frames, and the Wi-Fi data frames include preambles in the data frame used to sample the environment. The Wi-Fi sensing node replies with a Wi-Fi control ACK for the received Wi-Fi data frame. This process is repeated multiple times, and the illuminator node can perform sensing during the time intervals of receiving multiple Wi-Fi control ACKs. During the passive sensing process, the sensing node does not perform any operations and relies on the data transmission between the sensing node itself and the illuminator node. During the passive sensing process, the sensing node does not introduce any overhead, but the sensing node cannot control the rate and occurrence of sensing by the illuminator node.

[0119] Method 2: As Figure 5 The following shows the process of invoked sensing. The sensing node initiates an invocation process, and the illuminator node emits a sensing signal. This process is repeated multiple times, and the sensing node can perform sensing during the time intervals of receiving the sensing signal multiple times. During the invoked sensing process, the sensing node sends medium access control (MAC) layer messages to the illuminator node, requesting the illuminator node to respond and "illuminate" the environment (Wi-Fi illumination). The process of scheduled sensing brings some overhead to the sensing node, but allows the sensing node to control the rate and occurrence of sensing.

[0120] Method 3: As Figure 6 The following shows the process of push sensing. Nodes enabled with WLAN Sensing can interact with each other. During this process, both broadcast and multicast messages are sent by nodes enabled with WLAN Sensing, which can provide a "lit" environment for detection and capture for other nodes enabled with WLAN Sensing. Since the process of push sensing is a one-way transmission rather than a two-way interaction, the increased overhead is less than that of Method 2, and it allows controlling the rate and occurrence of sensing.

[0121] However, in the above several methods, WLAN Sensing generally only operates at low frequencies or high frequencies, and cannot perform fine sensing on target objects, resulting in poor sensing results.

[0122] In view of this, in order to obtain a more refined perception result for the target object, the present application proposes a method and a device for perceiving the target object. Among them, the method and the device are based on the same technical concept. Since the principles of the method and the device for solving problems are similar, the implementation of the device and the method can be referred to each other, and the repeated parts will not be redundantly described. In this method, the first device, as the initiator, perceives the target object within its own first frequency band range, and sends the obtained first perception result to the second device. The second device perceives the target object within its own second frequency band range based on the first perception result, obtains a second perception result, and sends the second perception result to the first device. The first device determines the state information of the target object according to the first perception result and the second perception result. Since the first frequency band range and the second frequency band range are different, fusing the perception results within at least two frequency band ranges can achieve a more refined perception effect. If the first frequency band range is a low-frequency range and the second frequency band range is a high-frequency range, the WLAN Sensing process can be based on high-low frequency cooperation. Through the sharing of perception results between high and low frequencies, the high frequency can be based on the low-frequency perception result, saving the time of high-frequency omnidirectional scanning, effectively increasing the perception range of the high frequency, and improving the perception accuracy.

[0123] An embodiment of the present application provides a method for perceiving a target object. This method can be applied to a perception system as Figure 3 shown. The following will refer to Figure 7 to detail the specific process of the method for perceiving the target object. As Figure 7 shown, this process includes:

[0124] S701: The first device sends the first perception result to the second device, and the second device receives the first perception result. The first perception result is obtained by the first device perceiving the target object within the first frequency band range of the first device.

[0125] The first device may include an LF module and an HF module. The LF module of the first device may sense a target object within the first frequency band range. The first frequency band range is the low-frequency range of the first device. Optionally, the first frequency band range may be within the frequency band range of 2.4 GHz or 5 GHz of 802.11b / g / n / ac. For example, the first frequency band range may include 2.4 GHz or 5 GHz. The first device (or the LF module of the first device) can sense the approximate area of the target object through omnidirectional scanning within the first frequency band range, and the sensing range is larger. The HF module of the first device may sense a target object within the fourth frequency band range. The fourth frequency band range is the high-frequency range of the first device. Optionally, the fourth frequency band range may be within the frequency band range between 57 GHz and 66 GHz of 802.11ad, or may be within the frequency band range above 60 GHz of 802.11ad. For example, the fourth frequency band range may include 60 GHz. The sensing range of the first device (or the HF module of the first device) within the fourth frequency band range is limited, but the sensing accuracy is higher.

[0126] The first sensing result includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, or the signal strength of the target object received by the first device.

[0127] Specifically, in S701, the first device may send a first instruction to the second device. The first instruction carries the first sensing result, and the first instruction is used to instruct the second device to sense the target object based on the first sensing result. Optionally, the first instruction may further include a second frequency band range, which may be the high-frequency range of the second device. The first instruction is specifically used to instruct the second device to sense the target object within the second frequency band range based on the first sensing result. The first frequency band range and the second frequency band range are different, and the value of the second frequency band range can be referred to Table 1 below.

[0128] The first instruction may be a WLAN Sensing Indication frame. The frame structure of the WLAN Sensing Indication frame is a management frame structure newly designed in this application, and it may be as Figure 8As shown, the WLAN Sensing Indication frame includes the following fields: MAC header field (occupying 16 bytes), Category field (occupying 1 byte), WLAN Sensing indication field (Indication Action filed) (the number of bytes occupied is variable and not fixed), Indication Multicast Address field (occupying 6 bytes), and FCS field (occupying 4 bytes). The WLAN Sensing Indication Action filed includes a Control sub-field (occupying 1 byte), a distance (range) sub-field (occupying 1 byte), an angle sub-field (occupying 1 byte), a moving speed (velocity) sub-field (occupying 1 byte), a Target received signal strength indication (RSSI) sub-field (occupying 1 byte), a channel bandwidth / band frequency bandwidth (Bandwidth) sub-field (occupying 4 bytes), and a Feedback Indication sub-field (occupying 1 byte). Among them, the range sub-field is used to indicate the distance between the target object and the first device, the angle sub-field is used to indicate the angle of the target object relative to the first device, the velocity sub-field is used to indicate the moving speed of the target object, and the Target RSSI sub-field is used to indicate the signal strength of the target object received by the first device.

[0129] The value of the Bandwidth sub-field can be referred to in Table 1 below. The Bandwidth sub-field is used to indicate the frequency band range when the participant performs sensing. When the value of the Bandwidth sub-field is 0, it means that the frequency band range for high-frequency sensing indicated is 20 megahertz (MHz). When the value of the Bandwidth sub-field is 1, it means that the frequency band range for high-frequency sensing indicated is 40 MHz. When the value of the Bandwidth sub-field is 2, it means that the frequency band range for high-frequency sensing indicated is 80 MHz. When the value of the Bandwidth sub-field is 3, it means that the frequency band range for high-frequency sensing indicated is 80 + 80 MHz or 160 MHz.

[0130] Table 1

[0131] Bandwidth subfield value Description 0 20MHz 1 40MHz 2 80MHz 3 80+80MHz or 160MHz

[0132] The device for performing fusion can be negotiated between the initiator and the participant of the sensing process. For example, the device for performing fusion can be the initiator, or the device for performing fusion can be the participant, which is not limited in the embodiments of this application. In the embodiments of this application, the device for performing fusion is taken as an example of the initiator for illustration. The initiator can also indicate the information feedback fusion frequency band, which can be used to indicate whether the participant feeds back the sensing result to the low-frequency range or the high-frequency range of the initiator, that is, in which frequency band range of the initiator (the first device) the participant (such as the second device) feeds back the high-frequency sensing result.

[0133] The value of the Feedback Indication sub-field can be referred to Table 2 below. The Feedback Indication sub-field is used to indicate the information feedback fusion frequency band. When the value of the Feedback Indication sub-field is 0, it indicates that the information feedback fusion frequency band is LF. When the value of the Feedback Indication sub-field is 1, it indicates that the information feedback fusion frequency band is HF. When the value of the Feedback Indication sub-field is 2, it indicates that the information feedback fusion frequency band is LF or HF. When the value of the Feedback Indication sub-field is 3-7, it is a reserved bit.

[0134] Table 2

[0135] Feedback Indication subfield value Meaning 0 LF 1 HF 2 LF / HF 3-7 Reserved

[0136] In this application, the OCT technology can be used to achieve seamless switching between high and low frequencies in WLAN Sensing, save the frequency band switching time, improve the switching success rate, and realize information sharing between high and low frequencies. More dimensional information of the target object can be obtained, the sensing result of the target object is more accurate and refined, and it can also reduce the time occupied by air transmission, reduce the transmission overhead, and improve the network performance. Optionally, the OCT operation supporting multicast / broadcast can be indicated by the Indication Multicast Address field.

[0137] In one implementation, the first device can instruct the participant (such as the second device) to sense the target object within the high-frequency range of the participant (such as the second frequency band range of the second device).

[0138] For example, the LF module of the first device sends the OCT primitive of the first instruction (encapsulating the WLAN Sensing Indication frame into the primitive of the OCT technology, such as OCT.Indication) to the HF module of the first device, and the HF module of the first device sends the first instruction to the HF module of the second device.

[0139] For another example, the LF module of the first device sends the first instruction to the LF module of the second device, and the LF module of the second device sends the OCT primitive of the first instruction to the HF module of the second device.

[0140] In another implementation, the first device may sense the target object within the high-frequency range (i.e., the fourth frequency band range) of the first device.

[0141] For example, the LF module of the first device sends the OCT primitive of the first instruction to the HF module of the first device.

[0142] In step S701, the operation of encapsulating an instruction into an OCT technology primitive. The process of encapsulating an instruction into an OCT primitive can refer to the encapsulation process of the subsequent WLAN Sensing Indication frame.

[0143] S702: The second device feeds back a second sensing result to the first device, and the first device receives the second sensing result fed back by the second device. The second sensing result is obtained by the second device sensing the target object within the second frequency band range based on the first sensing result.

[0144] The first frequency band range is different from the second frequency band range. The second frequency band range is the high-frequency range of the second device. For example, the second frequency band range may include 60 GHz, or the second frequency band range can refer to Table 1 above. The second frequency band range may be indicated to the second device by the first device (such as carried in the first instruction), or the second frequency band range may be pre-set in the second device.

[0145] The initiator of the sensing process can negotiate with the participants of the sensing process on which device to perform fusion. For example, the negotiation result is to perform fusion at the initiator. Optionally, the initiator and the participants can also negotiate on which frequency band range to perform fusion. For example, the negotiation result is to perform fusion on the LF or HF side of the initiator, then the participants of the sensing process will feed back the sensing result to the LF or HF of the initiator.

[0146] In one implementation, after sensing the second sensing result, the second device may actively send the second sensing result to the first device.

[0147] In another implementation, the second device may passively feedback the second sensing result according to the indication of the first device. For example, before S702, the first device sends third indication information, which is used to instruct the participant to feedback the sensing result, and the participant feedbacks the sensing result to the first device according to the third indication information. Or the third indication information is used to instruct the participant to poll and feedback the sensing result, and the participant polls and feedbacks the sensing result according to the third indication information.

[0148] If the third indication information is used to instruct the participant to feedback the sensing result, the first device may send a fifth instruction to the participant, and the fifth instruction carries the third indication information.

[0149] The fifth instruction further includes one or more of the following information: distance indication information between the target object and the participant (such as the second device), angle indication information of the target object relative to the participant (such as the second device), moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information. The distance indication information between the target object and the participant is used to instruct the participant to feedback the distance between the target object and the participant; the angle indication information of the target object relative to the participant is used to instruct the participant to feedback the angle of the target object relative to the participant; the moving speed indication information of the target object is used to instruct the participant to feedback the moving speed of the target object; the sector indication information where the target object is located is used to instruct the participant to feedback the sector where the target object is located; the frequency band bandwidth indication information is used to instruct the participant to feedback the frequency band bandwidth during sensing.

[0150] The fifth instruction may be a WLAN Sensing Trigger frame, and the WLAN Sensing Trigger frame may be a management frame structure newly designed in this application. For example, the relationship between the value of the Trigger Type subfield and the Trigger frame variant in the WLAN Sensing Trigger frame can be seen in Table 3 below. When the value of the Trigger Type subfield is 0, the Trigger frame variant is the Basic frame; when the value of the Trigger Type subfield is 1, the Trigger frame variant is the Beamforming Report Poll frame; when the value of the Trigger Type subfield is 2, the Trigger frame variant is the multi-user block acknowledgment request (MU-BAR); when the value of the Trigger Type subfield is 3, the Trigger frame variant is the multi-user request to send (MU-RTS); when the value of the Trigger Type subfield is 4, the Trigger frame variant is the Buffer Status Report Poll (BSRP) frame; when the value of the Trigger Type subfield is 5, the Trigger frame variant is the groupcast with retries MU-BAR (GCR MU-BAR); when the value of the Trigger Type subfield is 6, the Trigger frame variant is the Bandwidth Query Report Poll frame; when the value of the Trigger Type subfield is 7, the Trigger frame variant is the neighbor discovery protocol (NDP) Feedback Report Poll frame; when the value of the Trigger Type subfield is 8, the Trigger frame variant is the WLAN Sensing frame; when the value of the Trigger Type subfield is 9 - 15, it is a reserved bit.

[0151] Table 3

[0152]

[0153]

[0154] In the feedback stage, in the reserved positions of Table 3 above, a WLAN Sensing Triggerframe can be defined to enable other devices (such as participants) to feedback sensing results instead of other information.

[0155] If the third indication information is used to indicate that the participant polls and feedbacks the sensing result, the first device can send a fourth instruction to the participant, and the fourth instruction carries the third indication information.

[0156] The fourth instruction further includes one or more of the following information: sequence control information, timestamp control information, distance indication information between the target object and the second device or the third device, angle indication information of the target object relative to the second device or the third device, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0157] The fourth instruction can be a WLAN Sensing Poll frame, and the frame structure of the WLAN Sensing Poll frame is a new management frame structure designed in this application. For example, it can be as Fig. 9 described. The WLAN Sensing Pollframe includes the following fields: Frame Control field (occupying 2 bytes), Duration field (occupying 2 bytes), Receiver Address (RA) field (occupying 6 bytes), Transmitter Address (TA) field (occupying 6 bytes), Sensing Data Feedback field (occupying 1 byte), and FCS (occupying 4 bytes). The SensingData Feedback field includes a Sequence ID Control sub-field (occupying 1 bit), a Timestamp Control sub-field (occupying 1 bit), a range sub-field (occupying 1 bit), an angle sub-field (occupying 1 bit), a velocity sub-field (occupying 1 bit), a Sector ID sub-field (occupying 1 bit), a Bandwidth sub-field (occupying 1 bit), and a Reserved field (occupying 1 bit). Among them, the range sub-field can be used to represent the distance indication information between the target object and the participant; the angle sub-field can be used to represent the angle indication information of the target object relative to the participant; the velocity sub-field can be used to represent the moving speed indication information of the target object; the sector number sub-field can be used to represent the sector indication information where the target object is located; the Bandwidth sub-field can be used to represent the frequency band bandwidth indication information.

[0158] When the first device discovers other sensing devices, it can also temporarily schedule or request other sensing devices to join the original sensing process (i.e., the sensing process currently participated by the first device and the second device, or the sensing process before other sensing devices are added). For example, when the first device detects that there is a third device that supports sensing near the target object, the first device can send first indication information to the third device, and the first indication information is used to schedule or request the third device to sense the target object, and the third device can receive the first indication information. The third device senses the target object within the third frequency band range, obtains a third sensing result, and sends the third sensing result to the first device, and the first device can receive the third sensing result. The third frequency band range is the high-frequency range of the third device. For example, the third frequency band range may include 60 GHz, or the third frequency band range can refer to Table 1 above. The third frequency band range may be indicated by the first device to the third device, or the third frequency band range may be pre-set in the third device. The sensing range of the third device (or the HF module of the third device) within the third frequency band range is limited, but the sensing accuracy is higher.

[0159] Specifically, the first device can send a second instruction to the third device, and the second instruction carries the first indication information. The second instruction further includes one or more of the following information: frequency band information, channel information, first sensing result, feedback indication information, role of the initiator (such as including AP or STA), sensing duration, sensing interval time, or sensing mode.

[0160] The second instruction may be a WLAN Sensing Request frame, and the frame structure of the WLAN Sensing Request frame is a new management frame structure designed in this application. For example, it may be as Fig.10As shown, the WLAN SensingRequest frame includes the following fields: MAC header field (occupying 16 bytes), Category field (occupying 1 byte), WLAN Sensing Request Action field (with variable byte occupancy), and FCS field (occupying 4 bytes). The WLAN Sensing Request Action field includes a Control subfield (occupying 1 byte), a Band ID subfield (occupying 1 byte), a Channel Number subfield (occupying 1 byte), a Target Info subfield (occupying 4 bytes), a Feedback Indication subfield (occupying 1 byte), a Sensing Info subfield (occupying 0 bytes or 5 bytes), and a STA Role subfield (occupying 4 bytes). The TargetInfo subfield includes a range subfield (occupying 1 byte), an angle subfield (occupying 1 byte), a velocity subfield (occupying 1 byte), and a Target RSSI subfield (occupying 1 byte). The Sensing Info subfield includes a Sensing Duration subfield (occupying 2 bytes), a Sensing Interval subfield (occupying 2 bytes), and a Sensing Mode subfield (occupying 1 byte). After receiving the WLAN Sensing Requestframe, the temporary scheduling device (such as the third device) joins the current sensing process according to the request information for sensing, and feeds back the sensing result to the information feedback fusion side negotiated in advance by the initiator and other devices.

[0161] The corresponding relationship between the value of the STA Role subfield and the STA role is shown in Table 4. When the value of the STA Role subfield is 0, the STA role is AP. When the value of the STARole subfield is 1, the STA role is tunneled direct link setup (TDLS) STA. When the value of the STARole subfield is 2, the STA role is IDSSSTA. When the value of the STARole subfield is 3, the STA role is a pinhole controlprotocol (PCP) device. When the value of the STA Role subfield is 4, the STA role is neither PCP nor AP. When the value of the STA Role subfield is 5 - 7, it is a reserved bit.

[0162] Table 4

[0163]

[0164]

[0165] The Sensing Mode sub - field can be used to indicate the way for other temporarily scheduled devices to participate in sensing, including the Passive mode and / or the Monostatic mode.

[0166] As Fig.11 shown, when the third device is temporarily mobilized to participate in sensing, if the high - frequency of the first device is busy and cannot send the azimuth information of the target object detected by the low - frequency of the first device to the third device, or the high - frequency of the third device is sleeping and cannot receive signals, the first device can encapsulate the relevant information requesting the third device to sense in an On - channel Tunnel Request frame (i.e., through OCT technology or OCT.request primitive) and send it to the high - frequency of the third device through the low - frequency of the first device. After receiving the On - channel Tunnel Request frame, the third device joins the existing sensing process according to the request information.

[0167] If the third device participates in sensing in the Monostatic mode, the first device can schedule the third device to join the current sensing process by allocating a service period (SP) for the third device without affecting the current communication / sensing process, where SP refers to a non - competitive access period. For example, the first device sends second indication information to the third device, and the second indication information is used to schedule the third device into the service period SP, where SP is the SP where the second device is located or the SP allocated to the third device. If the first device is an AP, the first device actively sends a Poll frame (this Poll frame is different from the subsequent WLAN Sensing Poll frame) to directly schedule the third device into the same SP as the first device and / or the second device, or the first device allocates a new SP for the third device. If the first device is a STA, the third device can actively send a service period request (SPR) frame to the associated AP to apply for an extended SP. The third device sends first request information to the associated AP, and the first request information is used to request the associated AP to allocate an SP for the third device.

[0168] Optionally, the participant feeds back the sensing result to the first device, and the first device can receive the sensing result fed back by the participant. The sensing result fed back by the participant may be carried in the third instruction. The third instruction further includes one or more of the following information: the distance between the target object and the participant, the angle of the target object relative to the participant, the moving speed of the target object, the sector where the target object is located, the frequency band bandwidth, or feedback indication information.

[0169] The third instruction may be a WLAN Sensing Feedback frame. The frame structure of the WLAN Sensing Feedback frame may be a management frame structure newly designed in this application. For example, it may be as Fig.12 shown. The WLAN Sensing Feedback frame includes the following fields: MAC header field (occupying 16 bytes), Category field (occupying 1 byte), WLAN Sensing Feedback Action field field (the number of bytes occupied is variable and not fixed), and FCS field (occupying 4 bytes). The WLAN Sensing Feedback Action field field includes a Control sub-field (occupying 1 byte), a range sub-field (occupying 1 byte), an angle sub-field (occupying 1 byte), a velocity sub-field (occupying 1 byte), a Sector ID sub-field (occupying 1 byte), a Bandwidth sub-field (occupying 4 bytes), and a Feedback Indication sub-field (occupying 1 byte).

[0170] If the third device participates in sensing in a Passive manner and does not involve the allocation of SP, the third device only needs to listen to the channel at a specific time to obtain the sensing result sent by the participant.

[0171] S703: The first device determines the status information of the target object according to the first sensing result and the second sensing result.

[0172] Specifically, in S703, the first device may determine the status information of the target object according to the sensing result of the initiator and the sensing results of all participants. If the third device is temporarily scheduled, in S703, the first device determines the status information of the target object according to the first sensing result, the second sensing result, and the third sensing result.

[0173] The status information of the target object includes, but is not limited to, the following information: the position information of the target object, the moving speed of the target object, the signal strength information of the target object, etc.

[0174] It can be seen that in this application, under the management frame type, a newly designed WLAN SensingAction frame structure can be provided in this application. The management frame can be designed with the Action frame type, or it can be other types of management frames or newly designed management frames. In this application, the Action frame is taken as an example for illustration, but it is not limited to the Action frame. A new operation type WLANSensing can be defined in the reserved bit of the Category subfield of the Action field in the management frame, and the value range of the WLAN Sensing Action field can be increased to indicate the frame type in the WLAN Sensing operation.

[0175] Exemplarily, the WLAN Sensing Action frame is defined in the second reserved bit of the Category subfield, which includes one or more of the newly designed WLAN Sensing Indication frame, WLAN Sensing Request frame, WLANSensing Feedback frame, WLAN Sensing Trigger frame, and WLAN Sensing Poll frame. For example, the WLAN SensingIndication frame, WLAN Sensing Request frame, and WLAN Sensing Feedback frame are defined in the second reserved bit of the Category subfield. See Table 5 below. When the value of the WLAN Sensing Action field is 0, it represents the WLAN Sensing Indicationframe, and the time priority does not need to be set. When the value of the WLAN Sensing Action field is 1, it represents the WLANSensing Request frame, and the time priority does not need to be set. When the value of the WLAN Sensing Action field is 2, it represents the WLAN Sensing Feedback frame, and the time priority needs to be set (for example, the feedback priority when the participant feedbacks the sensing result). When the value of the WLAN Sensing Action field is 3 - 255, it is a reserved bit.

[0176] Table 5

[0177] WLAN Sensing Action field value Meaning Time priority 0 WLAN Sensing Indication No 1 WLAN Sensing Request No 2 WLAN Sensing Feedback Yes 3-255 Reserved —

[0178] The newly designed frame above can be directly transmitted in the air (i.e., it can directly use the air interface for transmission), or encapsulated in an On-channel Tunnel Request frame for transmission. As Fig.13 shown, it is a possible encapsulation process of the WLANSensing Indication frame provided by this application. The encapsulated On-channel Tunnel Request frame includes the following fields: MAC header field (occupying 16 bytes), Category field (occupying 1 byte), FST Action field, OCTMMPDU field (the number of bytes occupied is variable and not fixed), Multi-band field, Multi-band Source field, and FCS field (occupying 4 bytes). The OCT MMPDU field includes the MMPDU Length sub-field (occupying 2 bytes), MMPDU FrameControl sub-field (occupying 2 bytes), and MMPDU Frame Body sub-field (the number of bytes occupied is variable and not fixed). The MMPDUFrame Control sub-field includes the MAC header sub-field (occupying 16 bytes). The MMPDU Frame Body sub-field includes the Category sub-field (occupying 1 byte), WLAN Sensing Indication Action filed sub-field (the number of bytes occupied is variable and not fixed), and Indication Multicast Address sub-field (occupying 6 bytes). The WLAN SensingIndication Action filed sub-field includes the Control sub-field (occupying 1 byte), range sub-field (occupying 1 byte), angle sub-field (occupying 1 byte), velocity sub-field (occupying 1 byte), Target RSSI sub-field (occupying 1 byte), Bandwidth sub-field (occupying 4 bytes), and Feedback Indication sub-field (occupying 1 byte). For the encapsulation process of other frames, reference can be made to the encapsulation process of the WLAN Sensing Indication frame, which will not be elaborated here.

[0179] In the embodiment of the present application, as the initiator of the sensing process, the first device can first sense the target object within its own first frequency band range, and send the first sensing result to the second device. Based on the first sensing result, the second device senses the target object within its own second frequency band range to obtain a sensing result. The first frequency band range and the second frequency band range are different. In this way, the first device can fuse the sensing results within at least two frequency band ranges to obtain a more refined sensing result. And the first device can perform high-low frequency cooperation. Through the sharing of sensing results between high and low frequencies, the high frequency can be based on the low frequency sensing result, saving the time of high frequency omnidirectional scanning, effectively improving the sensing range of the high frequency, and improving the sensing accuracy.

[0180] The following specific embodiments are used to illustrate the above process of sensing the target object. The following embodiments all include scenarios where other devices are temporarily mobilized to participate in sensing. Among the following embodiments, there are differences in the feedback information transmission method (transmitted on HF or LF), the information feedback fusion side (fused on the HF side or LF side of the initiator), the role of the initiator (AP or STA), and the mode of temporarily mobilizing devices to participate in sensing (Passive or Monostatic).

[0181] Embodiment 1: Refer to Fig.14 , in the sensing process of the embodiment of the present application, it is transmitted on LF, fused on the LF side of the initiator, the initiator is AP, and the third device participates in sensing in a Monostatic manner. The sensing process includes the following steps:

[0182] In the Sensing stage, the LF of the first device (Device1) (as the initiator) first senses the surrounding environment to obtain a first sensing result (the first sensing result includes a rough sensing result or a low frequency sensing result of the target object), and sends the first sensing result (WLAN Sensing Indication frame) to the HF of Device1 through the OCT primitive (as shown by the dotted line, hereinafter referred to as OCT.Indication). The HF of Device1 forwards this frame through air transmission (as shown by the solid line) to the HF of the second device (Device2). The HF of Device1 and the HF of Device2 can both perform fine beam scanning directionally based on the first sensing result.

[0183] Suppose the initiator needs to temporarily mobilize the third device (Device3) to join the sensing process. If the HF of Device1 is busy (for example, the HF of Device1 is performing sensing or communicating), and Device3 does not know the target azimuth information at this time, or the HF of Device3 is in a dormant state and cannot receive the information sent by Device1, the HF of Device1 can send the relevant information for requesting sensing (WLAN Sensing Request frame) to the LF of Device1 through the OCT primitive (hereinafter referred to as OCT.Request). The LF of Device1 sends it to the LF of Device3, and the LF of Device3 sends it to the HF of Device3 through OCT.Request. Device3 joins the sensing process according to the relevant information for requesting sensing (as shown in the box in the figure).

[0184] In the case where Device3 participates in sensing in the Monostatic mode, if Device1 is an AP, Device1 actively sends a Poll frame to directly schedule Device3 into the same SP as Device1 and Device2, or allocate a new SP to Device3. If Device1 is a STA, Device3 can actively send an SPR frame to the associated AP to apply for an extended SP. By scheduling Device3 to join the existing WLAN Sensing process, it will not affect the original communication / sensing process.

[0185] Suppose Device1 and Device2 negotiate to fuse the sensing information on the LF / HF side of Device1 during sensing, and Device3 gives feedback based on the negotiation results of Device1 and Device2, that is, Device3 feeds back the third sensing result to the LF / HF side of Device1.

[0186] In the Feedback phase, if feedback information is transmitted through the LF side and fused on the LF side of Device1. Device1 can send a WLAN Sensing Trigger frame to trigger Device2 and Device3 to provide feedback. Device2 and Device3 use OCT.Indication to directly send the WLAN Sensing Feedback frame to the LF of Device1 through their LFs, that is, a method combining Trigger with orthogonal frequency division multiple access (OFDMA) / uplink multi-user multiple-input multiple-output (UL MU-MIMO) is adopted.

[0187] For the temporarily mobilized device Device3, if the inter-frame interval of the OCT Request frame is greater than or equal to the time required for the sensing process of Device3 during the Sensing phase, Device3 can also encapsulate the third sensing result in the OCT Request / OCT Response frame and directly feedback it to Device1, which can efficiently feedback the sensing result in a timely manner without modifying the standard protocol.

[0188] Embodiment 2: Refer to Fig.15 , in the sensing process of the embodiment of the present application, it is transmitted on the HF and fused on the HF side of the initiator. The initiator is the AP, and the third device participates in the sensing in a Monostatic manner. The sensing process includes the following steps:

[0189] In the Sensing phase, the LF of Device1 (as the initiator) first senses the surrounding environment to obtain the first sensing result, and sends the first sensing result (WLAN Sensing Indication frame) to the HF of Device1 through the OCT primitive (as shown by the dotted line, hereinafter referred to as OCT.Indication). The HF of Device1 forwards this frame through air transmission (as shown by the solid line) to the HF of Device2. Both the HF of Device1 and the HF of Device2 can perform directional fine beam scanning based on the first sensing result.

[0190] Suppose the initiator needs to temporarily mobilize Device3 to join the sensing process. If the HFs of both Device1 and Device3 are idle, the HF of Device1 directly transmits the relevant information for requesting sensing (WLAN Sensing Request frame) to Device3 via air, and Device3 joins the existing sensing process according to the relevant information for requesting sensing (as shown in the box in the figure).

[0191] If Device1 is an AP, Device1 actively sends a Poll frame to directly schedule Device3 into the same SP as Device1 and Device2, or allocate a new SP to Device3, and schedule Device3 to join the existing WLAN Sensing process, so as not to affect the original communication / sensing process.

[0192] Suppose Device1 and Device2 negotiate to fuse the sensing information on the LF / HF side of Device 1 during sensing, and Device3 gives feedback based on the negotiation result of Device1 and Device2.

[0193] In the Feedback stage, if the feedback information is transmitted via HF and fused on the HF side of Device1, the HF of Device1 can send a WLAN Sensing Poll frame to instruct the HFs of Device 2 and Device 3 to alternately send the WLAN Sensing Feedback frame directly to the HF of Device1.

[0194] Embodiment 3: Refer to Fig.16 , in the sensing process of the embodiment of the present application, transmitted on the LF, fused on the HF side of the initiator, the initiator is a STA, and the third device participates in sensing in a Monostatic manner. The sensing process includes the following steps:

[0195] In the Sensing stage, the LF of Device1 first senses the surrounding environment to obtain a first sensing result, and sends the first sensing result (WLAN Sensing Indication frame) to the HF of Device1 through an OCT primitive (as shown by the dotted line, hereinafter referred to as OCT.Indication). The HF of Device1 forwards this frame via air (as shown by the solid line) to the HF of Device2. The HFs of both Device1 and Device2 can perform directional fine beam scanning based on the first sensing result.

[0196] Suppose the initiator needs to temporarily mobilize Device3 to join the sensing process. If the HF of Device1 is busy, Device3 doesn't know the target orientation information at this time, or the HF of Device3 is in a sleep state and unable to receive the information sent by Device1. The HF of Device1 can send the relevant information for requesting sensing (WLAN Sensing Request frame) to the LF of Device1 through the OCT primitive (hereinafter referred to as OCT.Request). The LF of Device1 sends it to the LF of Device3, and the LF of Device3 sends it to the HF of Device3 through OCT.Request. Device3 joins the existing sensing process according to the relevant information for requesting sensing (as shown in the box in the figure).

[0197] In the case where Device3 participates in sensing in the Monostatic mode, if Device1 is a STA, Device3 can actively send an SPR frame to the associated AP to apply for an extended SP, and the associated AP allocates a new SP for Device3. By scheduling Device3 to join the existing WLAN Sensing process, it has no impact on the original communication / sensing process.

[0198] Suppose Device1 and Device2 negotiate to fuse the sensing information on the LF / HF side of Device1 during sensing, and Device3 gives feedback based on the negotiation result of Device1 and Device2.

[0199] In the Feedback stage, if the feedback information is transmitted through the LF side and fused on the HF side of Device1. The HF of Device1 can send a WLAN Sensing Poll frame, and the HFs of Device2 and Device3 encapsulate the sensing result WLANSensing Feedback frame in an On-channel Tunnel Request frame for feedback.

[0200] Embodiment 4: Refer to Fig.17 , in the sensing process of the embodiment of the present application, transmitted on the LF and fused on the LF side of the initiator, where the initiator is an AP, and taking the case where the third device participates in sensing in a Passive mode as an example, the sensing process includes the following steps:

[0201] In the Sensing phase, the LF of Device1 first senses the surrounding environment to obtain the first sensing result, and sends the first sensing result (WLAN Sensing Indication frame) to the HF of Device1 through the OCT primitive (as shown by the dotted line, hereinafter referred to as OCT.Indication). The HF of Device1 forwards this frame through air transmission (as shown by the solid line) to the HF of Device2. Both the HF of Device1 and the HF of Device2 can perform directional fine beam scanning based on the first sensing result.

[0202] Suppose the initiator needs to temporarily mobilize Device3 to join the sensing process. If the HF of Device1 is busy, Device3 does not know the target azimuth information at this time, or the HF of Device3 is in a sleep state and cannot receive the information sent by Device1. The HF of Device1 can send the relevant information for requesting sensing (WLAN Sensing Request frame) to the LF of Device1 through the OCT primitive (hereinafter referred to as OCT.Request). The LF of Device1 sends it to the LF of Device3, and the LF of Device3 sends it to the HF of Device3 through OCT.Request. Device3 joins the existing sensing process according to the relevant information for requesting sensing. When Device3 participates in sensing in a Passive manner, Device3 only needs to listen to the channel at a specific time, and there is no need to allocate SP for Device3.

[0203] Suppose Device1 and Device2 negotiate to fuse the sensing information on the LF / HF side of Device1 during sensing, and Device3 gives feedback based on the negotiation result of Device1 and Device2.

[0204] In the Feedback phase, if Device1 is an AP, it transmits feedback information through the LF side and fuses on the LF side of Device1. Device1 can send a WLAN Sensing Trigger frame to trigger Device2 and Device3 to give feedback. Device2 and Device3 indicate their LFs to directly send the WLAN Sensing Feedback frame to the LF of Device1 through OCT.Indication, that is, adopt the method of combining Trigger with OFDMA / UL MU-MIMO.

[0205] The method for perceiving a target object according to the embodiments of the present application is described in detail above. Based on the same inventive concept as the method for perceiving a target object, the embodiments of the present application further provide a device for perceiving a target object. As Fig.18 shown, the device for perceiving a target object includes a processing unit 1801 and a transceiver unit 1802. The device 1800 can be used to implement the method described in the method embodiments applied to the device above.

[0206] In one embodiment, the device 1800 is applied to a first device, where the first device is the initiator of the perception process.

[0207] Specifically, the transceiver unit 1802 is configured to send a first perception result to a second device, where the first perception result is obtained by the first device perceiving a target object within a first frequency band range; receive a second perception result fed back by the second device, where the second perception result is obtained by the second device perceiving the target object within a second frequency band range based on the first perception result, and the first frequency band range and the second frequency band range are different;

[0208] The processing unit 1801 is configured to determine state information of the target object according to the first perception result and the second perception result.

[0209] In one implementation, the first frequency band range is the low-frequency range of the first device; the second frequency band range is the high-frequency range of the second device.

[0210] In one implementation, the transceiver unit 1802 is further configured to send first indication information to a third device, where the first indication information is used to mobilize or request the third device to perceive the target object; receive a third perception result fed back by the third device, where the third perception result is obtained by the third device perceiving the target object within a third frequency band range, and the third frequency band range is different from the first frequency band range.

[0211] In one implementation, the third frequency band range is the high-frequency range of the third device.

[0212] In one implementation, before receiving the third perception result fed back by the third device, the transceiver unit 1802 is further configured to send second indication information to the third device, where the second indication information is used to schedule the third device into the SP, and the SP is the SP where the second device is located, or the SP assigned to the third device.

[0213] In one implementation, the transceiver unit 1802 is further configured to send third indication information to the second device and the third device, where the third indication information is used to instruct the second device and the third device to feedback sensing results, or the third device indication information is used to instruct the second device and the third device to poll and feedback sensing results.

[0214] In one implementation, the first sensing result includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, or the signal strength of the target object received by the first device.

[0215] In one implementation, the transceiver unit 1802 is specifically configured to send a first instruction, where the first instruction carries the first sensing result, and the first instruction is used to instruct the participant to sense the target object based on the first sensing result.

[0216] The first instruction may further carry the second frequency band range and / or the third frequency band range.

[0217] In one implementation, the transceiver unit 1802 is specifically configured to send a second instruction to the third device, where the second instruction carries the first indication information.

[0218] The second instruction may further include one or more of the following information: frequency band information, channel information, the first sensing result, feedback indication information, the role of the first device, sensing duration, sensing interval time, or sensing mode.

[0219] In one implementation, the transceiver unit 1802 is specifically configured to receive a third instruction sent by the second device and / or the third device, where the third instruction carries the second sensing result of the second device and / or the third sensing result of the third device.

[0220] The third instruction may further include one or more of the following information: the distance between the target object and the second device and / or the third device, the angle of the target object relative to the second device and / or the third device, the moving speed of the target object, the sector where the target object is located, frequency band bandwidth, or feedback indication information.

[0221] In one implementation, the transceiver unit 1802 is specifically configured to send a fourth instruction to the second device and / or the third device, where the fourth instruction carries the third indication information, and the fourth instruction is used to instruct the second device and the third device to poll and feedback sensing results.

[0222] The fourth instruction may further include one or more of the following information: sequence control information, timestamp control information, distance indication information between the target object and the second device and / or the third device, angle indication information of the target object relative to the second device and / or the third device, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0223] In one implementation, the transceiver unit 1802 is specifically configured to send a fifth instruction to the second device and / or the third device. The fifth instruction carries the third indication information, and the fourth instruction is used to instruct the second device and / or the third device to feedback a sensing result.

[0224] The fifth instruction may further include one or more of the following information: distance indication information between the target object and the second device and / or the third device, angle indication information of the target object relative to the second device and / or the third device, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0225] In another embodiment, the apparatus 1800 is applied to a second device, and the second device is a participant in the sensing process.

[0226] Specifically, the processing unit 1801 is configured to receive a first sensing result through the transceiver unit 1802. The first sensing result is obtained by the first device sensing a target object within a first frequency band range; and feedback a second sensing result, which is obtained by the second device sensing the target object within a second frequency band range based on the first sensing result. The first frequency band range and the second frequency band range are different.

[0227] In one implementation, the first frequency band range is the low-frequency range of the first device; the second frequency band range is the high-frequency range of the second device.

[0228] In one implementation, before the transceiver unit 1802 feeds back the second sensing result to the first device, it is further configured to receive third indication information from the first device. The third indication information is used to instruct the second device to feedback a sensing result, or to instruct the second device and the third device to poll and feedback sensing results.

[0229] In one implementation, the first sensing result includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, or the signal strength of the target object received by the first device.

[0230] In one implementation, the transceiver unit 1802 is specifically configured to receive a first instruction, where the first instruction carries the first sensing result, and the first instruction is used to instruct a second device to sense the target object based on the first sensing result.

[0231] The first instruction may further carry the frequency band range of the second device.

[0232] In one implementation, the transceiver unit 1802 is specifically configured to send a third instruction to the first device, where the third instruction carries the second sensing result.

[0233] The third instruction may further include one or more of the following information: the distance between the target object and the second device, the angle of the target object relative to the second device, the moving speed of the target object, the sector where the target object is located, the frequency band bandwidth, or feedback indication information.

[0234] In one implementation, the transceiver unit 1802 is specifically configured to receive a fourth instruction, where the fourth instruction carries the third indication information, and the fourth instruction is used to instruct the second device and the third device to poll and feedback sensing results.

[0235] The fourth instruction may further include one or more of the following information: sequence control information, timestamp control information, distance indication information between the target object and the second device, angle indication information of the target object relative to the second device, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0236] In one implementation, the transceiver unit 1802 is specifically configured to receive a fifth instruction, where the fifth instruction carries the third indication information, and the fifth instruction is used to instruct the second device to feedback the sensing result.

[0237] The fifth instruction may further include one or more of the following information: distance indication information between the target object and the second device, angle indication information of the target object relative to the second device, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0238] In yet another embodiment, the apparatus 1800 is applied to a third device, and the second device is a participant temporarily scheduled to join the sensing process.

[0239] Specifically, the processing unit 1801 is configured to receive first indication information through the transceiver unit 1802, where the first indication information is used to mobilize or request the third device to perform sensing; and feedback a third sensing result to the first device, where the third sensing result is obtained by the third device sensing a target object within a third frequency band range.

[0240] In one implementation, the third frequency band range is the high-frequency range of the third device.

[0241] In one implementation, before the transceiver unit 1802 feedbacks the third sensing result to the first device, the transceiver unit 1802 is further configured to receive second indication information from the first device, where the second indication information is used to schedule the third device into the SP, and the SP is the SP where the second device is located, or the SP assigned to the third device.

[0242] In one implementation, before the transceiver unit 1802 feedbacks the third sensing result to the first device, the transceiver unit 1802 is further configured to send a first request information to the AP, where the first request information is used to request the AP to assign an SP to the third device, and the AP is associated with the third device, that is, the AP is the associated AP of the third device.

[0243] In one implementation, before the transceiver unit 1802 feedbacks the third sensing result to the first device, the transceiver unit 1802 is further configured to receive third indication information from the first device, where the third indication information is used to instruct the third device to feedback a sensing result, or the third device indication information is used to instruct the second device and the third device to poll and feedback sensing results.

[0244] In one implementation, the transceiver unit 1802 is specifically configured to receive a fourth instruction, where the fourth instruction carries the third indication information, and the fourth instruction is used to instruct the second device and the third device to poll and feedback sensing results.

[0245] The fourth instruction may further include one or more of the following information: sequence control information, timestamp control information, distance indication information between the target object and the second device and / or the third device, angle indication information of the target object relative to the second device and / or the third device, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0246] In one implementation, the transceiver unit 1802 is specifically configured to receive a fifth instruction, where the fifth instruction carries the third indication information, and the fifth instruction is used to instruct the third device to feedback a sensing result.

[0247] The fifth instruction may further include one or more of the following information: distance indication information between the target object and the second device and / or the third device, angle indication information of the target object relative to the second device and / or the third device, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

[0248] In one implementation, the first perception result includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, or the signal strength of the target object received by the first device.

[0249] It should be noted that the division of modules in the embodiments of the present application is illustrative. It is only a logical function division. In actual implementation, there may be other division methods. In addition, in each embodiment of the present application, each functional unit may be integrated in a processing unit, or may exist physically alone, or two or more units may be integrated in one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0250] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0251] Based on the same concept as the above method for perceiving a target object, as Fig.19 shown, the embodiments of the present application further provide a schematic structural diagram of a target object perception device 1900. The device 1900 can be used to implement the method described in the method embodiments applied to the device, and reference can be made to the description in the above method embodiments.

[0252] The device 1900 includes one or more processors 1901. The processor 1901 can be a general-purpose processor or a special-purpose processor, etc. For example, it can be a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control a communication device (such as a base station, a terminal, or a chip, etc.), execute software programs, and process data of software programs. The communication device can include a transceiver unit for realizing signal input (reception) and output (transmission). For example, the transceiver unit can be a transceiver, a radio frequency chip, etc.

[0253] The device 1900 includes one or more of the processors 1901, and the one or more processors 1901 can implement the methods of the devices in the above-described embodiments.

[0254] Optionally, in addition to implementing the methods of the above-described embodiments, the processor 1901 can also implement other functions.

[0255] Optionally, in one design, the processor 1901 can execute instructions to cause the device 1900 to execute the methods described in the above method embodiments. The instructions can be stored in whole or in part in the processor, such as instruction 1903, or can be stored in whole or in part in a memory 1902 coupled to the processor, such as instruction 1904, or can cause the device 1900 to execute the methods described in the above method embodiments through instructions 1903 and 1904 together.

[0256] In another possible design, the device 1900 can also include a circuit, and the circuit can implement the functions in the foregoing method embodiments.

[0257] In another possible design, the device 1900 can include one or more memories 1902 on which there are instructions 1904, and the instructions can be run on the processor to cause the device 1900 to execute the methods described in the above method embodiments. Optionally, data can also be stored in the memory. Optionally, instructions and / or data can also be stored in the processor. For example, the one or more memories 1902 can store the corresponding relationships described in the above embodiments, or relevant parameters or tables involved in the above embodiments, etc. The processor and the memory can be provided separately or integrated together.

[0258] In another possible design, the device 1900 can further include a transceiver 1905 and an antenna 1906. The processor 1901 can be referred to as a processing unit to control the device (terminal or base station). The transceiver 1905 can be referred to as a transceiver, a transceiver circuit, or a transceiver unit, etc., and is used to implement the transceiver function of the device through the antenna 1906.

[0259] It should be noted that the processor in the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiments may be completed by the integrated logic circuit in the hardware of the processor or by instructions in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0260] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0261] The embodiments of the present application further provide a communication system, which includes the above-mentioned first device and second device, and the first device and the second device are used to implement the method for perceiving a target object described in any of the above method embodiments.

[0262] Optionally, the system may further include a third device.

[0263] The embodiments of the present application further provide a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a computer, it implements the method for perceiving a target object described in any of the above method embodiments.

[0264] The embodiments of the present application further provide a computer program product, and when the computer program product is executed by a computer, it implements the method for perceiving a target object described in any of the above method embodiments.

[0265] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a Digital Video Disc (DVD)), or a semiconductor medium (such as a Solid State Disk (SSD)), etc.

[0266] The embodiments of the present application also provide a processing device, including a processor and an interface; the processor is configured to execute the method for perceiving a target object described in any of the above method embodiments.

[0267] It should be understood that the above processing device can be a chip. The processor can be implemented by hardware or software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor that is implemented by reading software code stored in a memory. The memory can be integrated in the processor or can exist independently outside the processor.

[0268] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of the examples have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner 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 this application.

[0269] Those skilled in the art can clearly understand that for the convenience and brevity of description, 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 herein.

[0270] In several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed couplings, direct couplings, or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices, or units, and can also be in electrical, mechanical, or other forms of connection.

[0271] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of this application.

[0272] In addition, the functional units in each embodiment of this application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0273] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by hardware, or by firmware, or by a combination thereof. When implemented in software, the above functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. The computer-readable medium includes computer storage media and communication media, where the communication media includes any medium that facilitates the transfer of a computer program from one place to another. The storage media can be any available medium that can be accessed by a computer. By way of example but not limitation: the computer-readable medium can include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer. In addition, any connection can suitably be a computer-readable medium. For example, if the software is transmitted using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wireless technologies such as infrared, radio and microwave from a website, server or other remote source, then the coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, wireless and microwave are included in the definition of the medium. As used in this application, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks typically reproduce data magnetically, while discs reproduce data optically with a laser. The above combinations should also be included within the scope of protection of the computer-readable medium.

[0274] In summary, the above description is only a preferred embodiment of the technical solution of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A method for sensing a target object, characterized in that, comprising: A first device sends a first sensing result to a second device, where the first sensing result is obtained by the first device sensing the movement of the target object within a first frequency band range; The first device receives a second sensing result fed back by the second device, where the second sensing result is obtained by the second device sensing the movement of the target object within a second frequency band range based on the first sensing result, and the first frequency band range is different from the second frequency band range; The first device determines the state information of the target object according to the first sensing result and the second sensing result.

2. The method according to claim 1, characterized in that, The first frequency band range is the low-frequency range of the first device; the second frequency band range is the high-frequency range of the second device.

3. The method according to claim 1 or 2, characterized in that, further comprising: The first device sends first indication information to a third device, where the first indication information is used to mobilize or request the third device to sense the target object; The first device receives a third sensing result fed back by the third device, where the third sensing result is obtained by the third device sensing the movement of the target object within a third frequency band range, and the third frequency band range is different from the first frequency band range; The first device determines the state information of the target object according to the first sensing result and the second sensing result, including: The first device determines the state information of the target object according to the first sensing result, the second sensing result and the third sensing result.

4. The method according to claim 3, characterized in that, The third frequency band range is the high-frequency range of the third device.

5. The method according to claim 3, characterized in that, Before the first device receives the third sensing result fed back by the third device, it further comprises: The first device sends second indication information to the third device, where the second indication information is used to schedule the third device into a service period SP, and the SP is the SP where the second device is located, or the SP assigned to the third device.

6. The method according to claim 3, characterized in that, further comprising: The first device sends third indication information to the second device and the third device, where the third indication information is used to instruct the second device and the third device to feed back sensing results.

7. The method according to claim 1 or 2, characterized in that, The first sensing result includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, or the signal strength of the target object received by the first device.

8. The method according to claim 1 or 2, characterized in that, The first device sending the first sensing result to the second device includes: The first device sends a first instruction to the second device, where the first instruction carries the first sensing result and the second frequency band range, and the first instruction is used to instruct the second device to sense the target object within the second frequency band range based on the first sensing result.

9. The method according to claim 8, wherein, the first instruction further includes feedback indication information, and the feedback indication information is used to indicate whether the second device feeds back the second sensing result in the high-frequency range or the low-frequency range of the first device.

10. The method according to claim 3, wherein, the first device sending the first indication information to the third device includes: the first device sending a second instruction to the third device, where the second instruction carries the first indication information; the second instruction further includes one or more of the following information: frequency band information, channel information, the first sensing result, feedback indication information, the role of the first device, sensing duration, sensing interval time, or sensing mode.

11. The method according to claim 1 or 2, wherein, the first device receiving the second sensing result fed back by the second device includes: the first device receiving a third instruction sent by the second device, where the third instruction carries the second sensing result; the third instruction further includes one or more of the following information: the distance between the target object and the second device, the angle of the target object relative to the second device, the moving speed of the target object, the sector where the target object is located, frequency band bandwidth, or feedback indication information.

12. The method according to claim 6, wherein, the first device sending the third indication information to the second device and the third device includes: the first device sending a fourth instruction to the second device and the third device, where the fourth instruction carries the third indication information, and the fourth instruction is used to instruct the third device and the second device to poll and feed back sensing results; the fourth instruction further includes one or more of the following information: sequence control information, timestamp control information, distance indication information between the target object and the second device or the third device, angle indication information of the target object relative to the second device or the third device, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

13. The method according to claim 6, wherein, the first device sending the third indication information to the second device and the third device includes: the first device sending a fifth instruction to the second device and the third device, where the fifth instruction carries the third indication information, and the fifth instruction is used to instruct the second device and the third device to feed back sensing results. The fifth instruction further includes one or more of the following information: distance indication information between the target object and the second device or the third device, angle indication information of the target object relative to the second device or the third device, moving speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

14. A method for sensing a target object, characterized in that, it includes: The second device receives a first sensing result, which is obtained by the first device sensing the movement of the target object within a first frequency band range; The second device feeds back a second sensing result to the first device, and the second sensing result is obtained by the second device sensing the movement of the target object within a second frequency band range based on the first sensing result, and the first frequency band range is different from the second frequency band range.

15. The method according to claim 14, characterized in that, The first frequency band range is the low-frequency range of the first device; the second frequency band range is the high-frequency range of the second device.

16. The method according to claim 14 or 15, characterized in that, Before the second device feeds back the second sensing result to the first device, it further includes: The second device receives third indication information from the first device, and the third indication information is used to instruct the second device to feed back the sensing result.

17. The method according to claim 14 or 15, characterized in that, The first sensing result includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, or the signal strength of the target object received by the first device.

18. The method according to claim 14 or 15, characterized in that, The second device receives the first sensing result, including: The second device receives a first instruction, and the first instruction carries the first sensing result and the second frequency band range, and the first instruction is used to instruct the second device to sense the target object within the second frequency band range based on the first sensing result.

19. The method according to claim 18, characterized in that, The first instruction further includes feedback indication information, and the feedback indication information is used to instruct the second device to feedback the second sensing result in the high-frequency range or the low-frequency range of the first device.

20. The method according to claim 14 or 15, characterized in that, The second device feeds back the second sensing result to the first device, including: The second device sends a third instruction to the first device, and the third instruction carries the second sensing result; The third instruction further includes one or more of the following information: the distance between the target object and the first device, the angle of the target object relative to the first device, the moving speed of the target object, the sector where the target object is located, the frequency band bandwidth, or the feedback indication information.

21. The method according to claim 16, characterized in that, The second device receives the third indication information from the first device, including: The second device receives a fourth instruction from the first device, where the fourth instruction carries the third indication information, and the fourth instruction is used to instruct the second device and the third device to poll and feedback the sensing results; The fourth instruction further includes one or more of the following information: sequence control information, timestamp control information, distance indication information between the target object and the second device or the third device, angle indication information of the target object relative to the second device or the third device, movement speed indication information of the target object, sector or frequency band bandwidth indication information where the target object is located.

22. The method according to claim 16, wherein, the second device receiving the third indication information from the first device includes: the second device receives a fifth instruction from the first device, where the fifth instruction carries the third indication information, and the fifth instruction is used to instruct the second device to feedback the sensing result; The fifth instruction further includes one or more of the following information: distance indication information between the target object and the second device, angle indication information of the target object relative to the second device, movement speed indication information of the target object, sector indication information where the target object is located, or frequency band bandwidth indication information.

23. A device for sensing a target object, wherein, it includes a processor and a memory, and the processor is coupled to the memory; the memory stores a computer program; the processor is configured to execute the computer program stored in the memory, so that the device executes the method according to any one of claims 1-13, or executes the method according to any one of claims 14-22.

24. A computer-readable storage medium, wherein, it stores a program or instructions, and when the program or instructions run on a computer, the method according to any one of claims 1-13 or the method according to any one of claims 14-22 is executed.

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