Collaborative sensing methods, electronic devices, and readable storage media

Abstract

This application provides a collaborative sensing method, electronic device, and readable storage medium. The second device includes a reconfigurable smart surface (RIS). The method includes: a first device collaboratively sensing a target based on the RIS capability of the second device. The RIS capability includes RIS reflection capability and / or RIS refraction capability. The RIS reflection capability indicates that the second device supports reflecting sensing signals from the first device to the target. The RIS refraction capability indicates that the second device supports generating sensing signals and sending sensing signals to the target. In this application, the second device, based on its RIS capability, can reflect sensing signals from the first device to the target without processing the sensing signals, resulting in low sensing latency. Alternatively, the second device can generate sensing signals and directly send them to the target without acting as an intermediary device for forwarding sensing signals between the first device and the target, also resulting in low sensing latency. Both approaches improve collaborative sensing efficiency.

Description

Technical Field

[0001] This application relates to integrated communication and sensing technologies, and more particularly to a collaborative sensing method, electronic device, and readable storage medium. Background Technology

[0002] Integrated communication and sensing (ICS) means that an electronic device can both communicate with and sense other devices. For example, the electronic device can sense the distance, size, and speed of other devices. For instance, in communication between a first device and a target, if the first device senses that the target is farther away, it can increase the signal transmission power to ensure the target can successfully receive the signal from the first device.

[0003] If the distance between the first device and the target to be sensed is too far, or if there are obstacles between them, the first device will be unable to sense the target or will only sense a portion of it. Currently, the first device can cooperate with a second device for sensing; that is, the first device can sense the target through the second device. Specifically, the first device sends a sensing signal to the second device, the second device processes the sensing signal, and forwards it to the target in the next time slot. After receiving the sensing signal, the target can send an echo signal back to the first device through the second device, and the first device can obtain the sensing result of the target based on the echo signal.

[0004] In current collaborative sensing solutions, the second device takes a long time to respond to sensing signals and can only forward the sensing signals to the target in the next time slot, resulting in a large delay in the first device's perception of the target and low efficiency of collaborative sensing. Summary of the Invention

[0005] This application provides a method, electronic device, and readable storage medium for collaborative sensing, which can improve the efficiency of collaborative sensing.

[0006] In a first aspect, embodiments of this application provide a collaborative sensing method, wherein a second device includes a reconfigurable smart surface (RIS), and the method includes: a first device collaboratively sensing a target with the second device based on the RIS capabilities of the second device. The RIS capabilities are RIS reflection capabilities and / or RIS refraction capabilities.

[0007] When the RIS capability is RIS reflection capability, the second device supports reflecting the sensing signal from the first device to the target. Compared with the prior art, the second device does not need to process the sensing signal from the first device, but directly reflects it to the target, resulting in lower sensing latency and thus improving collaborative sensing efficiency. When the RIS capability is RIS reflection capability or RIS refraction capability, the second device supports generating the sensing signal and sending it to the target. Compared with the prior art, the second device does not need to act as an intermediary device for forwarding sensing signals between the first device and the target, but generates the sensing signal itself and sends it to the target, resulting in lower sensing latency and improving collaborative sensing efficiency. When the RIS capability is both RIS reflection capability and RIS refraction capability, the second device can also improve collaborative sensing efficiency based on the RIS reflection capability.

[0008] In one embodiment, the RIS capability is RIS-unsupported. In this approach, the first device can collaborate with the second device for sensing without relying on RIS capabilities. The following embodiments mainly describe a scheme where the first device collaborates with the second device for sensing based on RIS capabilities.

[0009] In one possible implementation, the first device may store the RIS capability of at least one second device, wherein the RIS capability of the second device is reported to the first device by the second device.

[0010] The second device needs to perform beamforming on the RIS, enabling the RIS to achieve RIS reflection and / or RIS refraction capabilities. The second device can use RIS parameters to perform beamforming on the RIS, and these RIS parameters are related to the RIS capability. For example, when the RIS capability is RIS reflection capability, the RIS parameters are RIS reflection parameters; when the RIS capability is RIS refraction capability, the RIS parameters are RIS refraction parameters; and when the RIS capability is both RIS reflection and RIS refraction capability, the RIS parameters include both the RIS reflection parameters and the RIS refraction parameters. In one embodiment, the RIS includes multiple antenna elements, and the RIS parameters may include the phase and amplitude of each antenna element in the RIS.

[0011] In one possible implementation, before the first device and the second device cooperate to sense a target, the first device may send control information to the second device based on the RIS capability; the second device, based on the control information, performs beamforming on the RIS, so that the beam of the beamformed RIS is directed towards the target. Specifically, the second device obtains RIS parameters based on the control information, and these RIS parameters are related to the RIS capability; the second device performs beamforming on the RIS based on these RIS parameters.

[0012] Method 1: The first device acquires the RIS parameters and carries them in the control information.

[0013] The control information includes the RIS parameters, so that the second device can obtain the RIS parameters after receiving the control information. The RIS parameters in the control information are obtained by the first device based on the target information, which includes the target's identifier, orientation, or location. In other words, before the first device sends the control information to the second device based on the RIS capability, it first obtains the RIS parameters based on the target information.

[0014] Method 2: The second device acquires the RIS parameters. In this method, the control information includes the target information, which includes the target's identifier, orientation, or location. The second device can obtain the RIS parameters based on the target information.

[0015] Method 3: The second device acquires RIS parameters. In this method, when the RIS capability is the RIS reflection capability and the RIS refraction capability, the control information further includes: an identifier of the RIS capability, which is used to instruct the second device to use the RIS reflection capability and / or the RIS refraction capability. Thus, the second device can determine whether to acquire the RIS reflection parameters and / or the RIS refraction parameters based on the identifier of the RIS capability, and further, the second device can obtain the RIS parameters based on the target information and the identifier of the RIS capability.

[0016] The following describes the specific process by which the first device, based on the RIS capability of the second device, collaborates with the second device for perception:

[0017] Firstly, when the RIS capability includes the RIS reflection capability, that is, the RIS capability is the RIS reflection capability, or the RIS capability is the RIS reflection capability and the RIS refraction capability. In this method, the first device sends the sensing signal to the second device, and the second device reflects the sensing signal to the target based on the RIS beam. After the sensing signal encounters the target, it can be reflected by the target to form an echo signal, and then the first device can receive the echo signal from the target. Based on the echo signal, the first device can obtain the sensing result of the target. In this way, the first device can sense the target.

[0018] Secondly, as described in the first point above, when the RIS capability comprises both RIS reflection and RIS refraction, the first device can obtain a perception result of the target based on the echo signal, which can be referred to as the first perception result. Because the RIS also possesses RIS refraction capability, the second device can receive the echo signal from the target based on the RIS refraction capability. The second device can obtain a second perception result of the target based on the echo signal and send the second perception result to the first device. In this approach, the first device can obtain a perception result of the target based on both the first and second perception results.

[0019] In this method, the first device can fuse the perception results of the target from the second device with its own perception results of the target to obtain the perception results of the target, which has high perception accuracy.

[0020] In one possible implementation, when the RIS capability is the RIS reflection capability and the RIS refraction capability, the first device can use either the RIS reflection capability or the RIS refraction capability. The first device can carry an identifier of the RIS capability used by the second device in the control information, making the use of the RIS capability more flexible.

[0021] Third, when the RIS capability is a RIS refraction capability, the second device can generate a sensing signal, and then the second device sends the sensing signal to the target based on the RIS beam. The second device can receive the echo signal from the target based on the RIS refraction capability, and the second device obtains the sensing result of the target based on the echo signal, and sends the sensing result to the first device. In this way, the first device can obtain the sensing result of the target with the help of the second device.

[0022] In this approach, when the RIS capability is a RIS refraction capability, the control information sent from the first device to the second device may include sensing requirements, which include: sensing purpose, sensing performance requirements, and sensing parameters. The second device can generate sensing signals based on these sensing requirements.

[0023] Secondly, embodiments of this application provide a collaborative sensing method applied to a first device, the second device including a reconfigurable smart surface (RIS), the method including: based on the RIS capability of the second device, collaboratively sensing a target with the second device, the RIS capability being RIS reflection capability and / or RIS refraction capability, the RIS reflection capability being used to characterize: the second device supports reflecting sensing signals from the first device to the target, the RIS refraction capability being used to characterize: the second device supports generating the sensing signals and sending the sensing signals to the target.

[0024] In one possible implementation, before cooperating with the second device to sense the target, the method further includes: sending control information to the second device based on the RIS capability, wherein the control information is used by the second device to perform beamforming on the RIS, and the beamformed RIS beam is directed toward the target.

[0025] In one possible implementation, the control information includes RIS parameters related to the RIS capability. Before sending the control information to the second device based on the RIS capability, the method further includes: obtaining the RIS parameters based on the target information, wherein the target information includes the target's identifier, orientation, or location.

[0026] In one possible implementation, the control information includes information about the target, which includes the target's identifier, orientation, or location.

[0027] In one possible implementation, when the RIS capability is the RIS reflection capability and the RIS refraction capability, the control information further includes: an identifier of the RIS capability, which is used to instruct the second device to use the RIS reflection capability and / or the RIS refraction capability.

[0028] In one possible implementation, when the RIS capability is the RIS refraction capability, the control information further includes: sensing requirements, which include: sensing purpose, sensing performance requirements, and sensing parameters.

[0029] In one possible implementation, the RIS capability includes the RIS reflection capability, and the cooperative sensing of the target with the second device includes: sending the sensing signal to the second device; receiving the echo signal from the target; and obtaining the sensing result of the target based on the echo signal.

[0030] In one possible implementation, the RIS capability further includes the RIS refraction capability, and the method further includes: receiving a second sensing result from the second device; obtaining the sensing result of the target based on the echo signal includes: obtaining a first sensing result of the target based on the echo signal; and obtaining the sensing result based on the first sensing result and the second sensing result.

[0031] In one possible implementation, the RIS capability is a RIS refraction capability, and the cooperation with the second device to sense the target includes: receiving the sensing result from the second device.

[0032] In one possible implementation, the method further includes: receiving the RIS capability reported by the second device.

[0033] Thirdly, embodiments of this application provide a collaborative sensing method applied to a second device, the second device including a reconfigurable smart surface (RIS); the method includes: collaboratively sensing a target with a first device based on the RIS capability, the RIS capability being RIS reflection capability and / or RIS refraction capability, the RIS reflection capability being used to characterize: the second device supports reflecting sensing signals from the first device to the target, the RIS refraction capability being used to characterize: the second device supports generating the sensing signal and sending the sensing signal to the target.

[0034] In one possible implementation, before cooperating with the first device to sense the target, the method further includes: receiving control information from the first device; and based on the control information, performing beamforming on the RIS, with the beamformed RIS beam pointing towards the target.

[0035] In one possible implementation, beamforming the RIS based on the control information includes: obtaining RIS parameters based on the control information, the RIS parameters being related to the RIS capability; and beamforming the RIS based on the RIS parameters.

[0036] In one possible implementation, the control information includes the RIS parameters, which are obtained by the first device based on information about the target, including the target's identifier, orientation, or location.

[0037] In one possible implementation, the control information includes information about the target, which includes the target's identifier, orientation, or location. Obtaining the RIS parameters based on the control information includes obtaining the RIS parameters based on the target's information.

[0038] In one possible implementation, when the RIS capability is the RIS reflection capability and the RIS refraction capability, the control information further includes: an identifier of the RIS capability, the identifier of the RIS capability being used to instruct the second device to use the RIS reflection capability and / or the RIS refraction capability; obtaining the RIS parameters based on the control information includes: obtaining the RIS parameters based on the information of the target and the identifier of the RIS capability.

[0039] In one possible implementation, the RIS capability includes the RIS reflection capability, and the cooperative sensing of the target with the first device includes: receiving the sensing signal from the first device; and reflecting the sensing signal to the target based on the beam of the RIS.

[0040] In one possible implementation, the RIS capability further includes the RIS refraction capability, and after reflecting the sensing signal to the target, it further includes: receiving an echo signal from the target; obtaining a second sensing result of the target based on the echo signal; and sending the second sensing result to the first device.

[0041] In one possible implementation, the RIS capability is a RIS refraction capability, and the cooperation with the first device to sense the target includes: generating a sensing signal; transmitting the sensing signal to the target based on the beam of the RIS; receiving an echo signal from the target; obtaining a sensing result of the target based on the echo signal; and transmitting the sensing result to the first device.

[0042] In one possible implementation, the RIS capability is a RIS refraction capability, and the control information includes: sensing requirements, which include: sensing purpose, sensing performance requirements, and sensing parameters; the generation of sensing signals includes: generating the sensing signals based on the sensing requirements.

[0043] In one possible implementation, the method further includes: reporting the RIS capability to a first device.

[0044] Fourthly, embodiments of this application provide a cooperative sensing device, which may be a first device or a chip within the first device. The cooperative sensing device may include:

[0045] The processing module is configured to cooperate with the second device to sense a target based on the RIS capability of the second device, wherein the RIS capability is RIS reflection capability and / or RIS refraction capability, wherein the RIS reflection capability is used to characterize that the second device supports reflecting the sensing signal from the first device to the target, and the RIS refraction capability is used to characterize that the second device supports generating the sensing signal and sending the sensing signal to the target.

[0046] In one possible implementation, the transceiver module is used to send control information to the second device based on the RIS capability. The control information is used by the second device to perform beamforming on the RIS, and the beamformed RIS beam is directed toward the target.

[0047] In one possible implementation, the control information includes RIS parameters related to the RIS capability. The processing module is further configured to obtain the RIS parameters based on information about the target, including the target's identifier, orientation, or location.

[0048] In one possible implementation, the control information includes information about the target, which includes the target's identifier, orientation, or location.

[0049] In one possible implementation, when the RIS capability is the RIS refraction capability, the control information further includes: sensing requirements, which include: sensing purpose, sensing performance requirements, and sensing parameters.

[0050] In one possible implementation, when the RIS capability is the RIS reflection capability and the RIS refraction capability, the control information further includes: an identifier of the RIS capability, which is used to instruct the second device to use the RIS reflection capability and / or the RIS refraction capability.

[0051] In one possible implementation, the RIS capability includes the RIS reflection capability. The transceiver module is further configured to send the sensing signal to the second device and receive the echo signal from the target; the processing module is further configured to obtain the sensing result of the target based on the echo signal.

[0052] In one possible implementation, the RIS capability further includes the RIS refraction capability. The transceiver module is also configured to receive a second sensing result from the second device. The processing module is specifically configured to obtain a first sensing result of the target based on the echo signal; and to obtain the sensing result based on the first sensing result and the second sensing result.

[0053] In one possible implementation, the RIS capability is a RIS refraction capability. The transceiver module is also configured to receive the sensing results from the second device.

[0054] In one possible implementation, the transceiver module is further configured to receive the RIS capability reported by the second device.

[0055] The collaborative sensing device provided in this application embodiment can execute the actions of the first device in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0056] Fifthly, embodiments of this application provide a cooperative sensing device, which can be a second device or a chip within a second device. The cooperative sensing device may include:

[0057] A processing module is configured to cooperate with a first device to sense a target based on the RIS capability of a second device. The RIS capability is a RIS reflection capability and / or a RIS refraction capability. The RIS reflection capability is used to characterize that the second device supports reflecting the sensing signal from the first device to the target. The RIS refraction capability is used to characterize that the second device supports generating the sensing signal and sending the sensing signal to the target.

[0058] In one possible implementation, the transceiver module is used to receive control information from the first device; the processing module is further used to perform beamforming on the RIS based on the control information, wherein the beamformed RIS beam is directed toward the target.

[0059] In one possible implementation, the processing module is specifically configured to obtain RIS parameters based on the control information, the RIS parameters being related to the RIS capability; and to perform beamforming on the RIS based on the RIS parameters.

[0060] In one possible implementation, the control information includes the RIS parameters, which are obtained by the first device based on information about the target, including the target's identifier, orientation, or location.

[0061] In one possible implementation, the control information includes information about the target. The processing module is specifically configured to obtain the RIS parameters based on the target information, which includes the target's identifier, orientation, or location.

[0062] In one possible implementation, when the RIS capability is both RIS reflection capability and RIS refraction capability, the control information further includes: an identifier of the RIS capability, which is used to instruct the second device to use the RIS reflection capability and / or the RIS refraction capability. A processing module is specifically used to obtain the RIS parameters based on the target information and the identifier of the RIS capability.

[0063] In one possible implementation, the RIS capability includes the RIS reflection capability. A transceiver module is configured to receive the sensing signal from the first device; the RIS is configured to reflect the sensing signal to the target based on the beam of the RIS.

[0064] In one possible implementation, the RIS capability further includes the RIS refraction capability, the RIS being used to receive echo signals from the target; the processing module is further used to obtain a second sensing result of the target based on the echo signals. The transceiver module is further used to send the second sensing result to the first device.

[0065] In one possible implementation, the RIS capability is a RIS refraction capability. The processing module is further configured to generate a sensing signal. The RIS is further configured to transmit the sensing signal to the target based on the RIS beam, and to receive an echo signal from the target. The processing module is further configured to obtain a sensing result of the target based on the echo signal. The transceiver module is further configured to transmit the sensing result to the first device.

[0066] In one possible implementation, the control information includes: sensing requirements, which include: sensing purpose, sensing performance requirements, and sensing parameters; and a processing module, specifically used to generate the sensing signal based on the sensing requirements.

[0067] In one possible implementation, the transceiver module is also used to report the RIS capability of the second device to the first device.

[0068] In a sixth aspect, embodiments of this application provide a cooperative sensing device, which includes: a processor, a memory, and a transceiver; the transceiver is coupled to the processor, and the processor controls the transceiver's transmission and reception operations; wherein the memory is used to store computer-executable program code, the program code including instructions; when the processor executes the instructions, the instructions cause the cooperative sensing device to perform the cooperative sensing method provided by the second aspect or various possible designs of the second aspect.

[0069] In a seventh aspect, embodiments of this application provide a cooperative sensing apparatus, which includes: a processor, a memory, a transceiver, and a RIS; the transceiver is coupled to the processor, and the processor controls the transceiver's transmission and reception operations; wherein the memory is used to store computer-executable program code, the program code including instructions; when the processor executes the instructions, the instructions cause the cooperative sensing apparatus to perform the cooperative sensing method provided by the third aspect or various possible designs of the third aspect.

[0070] Eighthly, embodiments of this application provide a collaborative sensing system, including the collaborative sensing apparatus as described in the fourth or sixth aspect above, and the collaborative sensing apparatus as described in the fifth or seventh aspect.

[0071] Ninthly, embodiments of this application provide a cooperative sensing apparatus, including a unit, module, or circuit for performing the methods provided in the second and third aspects above. The cooperative sensing apparatus may be a first device or a second device, or it may be a module applied to the first device or the second device, for example, it may be a chip applied to the first device or the second device.

[0072] In a tenth aspect, embodiments of this application provide a cooperative sensing device (e.g., a chip) having a computer program stored thereon, which, when executed by the cooperative sensing device, implements the methods provided in the second and third aspects.

[0073] In one aspect, embodiments of this application provide a computer program product containing instructions that, when run on a computer, cause the computer to perform the methods described in the second and third aspects above.

[0074] In a twelfth aspect, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the methods described in the second and third aspects above.

[0075] The beneficial effects of the various possible implementations of the second to twelfth aspects can be found in the first aspect and the beneficial effects of the various possible implementations of the first aspect, and will not be repeated here.

[0076] This application provides a collaborative sensing method, electronic device, and readable storage medium. The second device includes a reconfigurable smart surface (RIS). The method includes: a first device collaboratively sensing a target based on the RIS capability of the second device. The RIS capability includes RIS reflection capability and / or RIS refraction capability. The RIS reflection capability indicates that the second device supports reflecting sensing signals from the first device to the target. The RIS refraction capability indicates that the second device supports generating sensing signals and sending sensing signals to the target. In this application, the second device, based on its RIS capability, can reflect sensing signals from the first device to the target without processing the sensing signals, resulting in low sensing latency. Alternatively, the second device can generate sensing signals and directly send them to the target without acting as an intermediary device for forwarding sensing signals between the first device and the target, also resulting in low sensing latency. Both approaches improve collaborative sensing efficiency. Attached Figure Description

[0077] Figure 1 This is a schematic diagram of a system architecture applicable to an embodiment of this application;

[0078] Figure 2 This is a schematic diagram of another system architecture applicable to the embodiments of this application;

[0079] Figure 3A This is a schematic diagram of a current electronic device structure;

[0080] Figure 3B A schematic diagram of the structure of a second device provided in an embodiment of this application;

[0081] Figure 4A A schematic diagram of a RIS provided in an embodiment of this application;

[0082] Figure 4B Another schematic diagram of the RIS provided for an embodiment of this application;

[0083] Figure 4C Another schematic diagram of the RIS provided for an embodiment of this application;

[0084] Figure 5 A schematic diagram of an embodiment of the collaboration-aware method provided in this application;

[0085] Figure 6 A flowchart illustrating another embodiment of the collaboration-aware method provided in this application;

[0086] Figure 7A for Figure 6 The illustrated embodiment is a flowchart comparing the prior art.

[0087] Figure 7B for Figure 6 A schematic diagram of the corresponding signal transmission;

[0088] Figure 8 A flowchart illustrating another embodiment of the collaboration-aware method provided in this application;

[0089] Figure 9 for Figure 8 The illustrated embodiment is a flowchart comparing the prior art.

[0090] Figure 10 for Figure 8 A schematic diagram of the corresponding signal transmission;

[0091] Figure 11 A flowchart illustrating another embodiment of the collaboration-aware method provided in this application;

[0092] Figure 12 for Figure 11 A schematic diagram of the corresponding signal transmission;

[0093] Figure 13 A schematic diagram of a collaborative sensing device provided in an embodiment of this application;

[0094] Figure 14Another structural schematic diagram of the collaborative sensing device provided in the embodiments of this application;

[0095] Figure 15 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0096] Figure 1 This is a schematic diagram of a system architecture applicable to an embodiment of this application. For example... Figure 1 As shown, the system architecture may include a first device, a second device, and a target. Figure 1 This example uses a first device as a base station, and both the second device and the target as a mobile phone. The first and second devices are integrated communication and sensing devices; that is, they can both communicate with and sense other devices. In one embodiment, taking the first device as an example, the first device can use, but is not limited to, radar, ultrasonic sensors, cameras, thermal imaging sensors, etc., to sense other devices. This application does not limit the method by which the first and second devices sense the target.

[0097] The sensing needs of the first device are varied. For example, if the first device needs to sense a target, but the distance between the first device and the target is too far, or there are obstacles between them, the first device cannot sense the target. Alternatively, the first device needs to sense the target from all angles, but due to obstacles, it can only sense a portion of the target. Or, the first device has poor sensing accuracy, but it needs high-precision sensing results. To address these sensing needs, the first device can collaborate with a second device to sense the target. For instance, if the first device has poor sensing accuracy but needs high-precision sensing results, it can use a second device with high sensing accuracy to sense the target, thereby obtaining a high-precision sensing result.

[0098] Reference Figure 1When the first and second devices cooperate in sensing, the first device can send a sensing signal to the second device, the second device can process the sensing signal, and forward the sensing signal to the target in the next time slot. In one embodiment, after receiving the sensing signal, the target can send an echo signal back to the second device, and the second device can send an echo signal back to the first device. The first device can then obtain the sensing result of the target based on the echo signal. In another embodiment, after receiving the sensing signal, the target can send an echo signal back to the first device, and the first device can obtain the sensing result of the target based on the echo signal. The second device's processing of the sensing signal can involve parsing the sensing signal to determine the target. In current collaborative sensing schemes, the second device's response time to the first device's sensing signal is long, and the second device can only forward the sensing signal to the target in the next time slot, resulting in a large delay in the first device obtaining the sensing result and low efficiency of collaborative sensing.

[0099] This application provides a collaborative sensing method. A second device that collaborates with a first device to sense a target integrates a reconfigurable intelligent surface (RIS). The second device can directly reflect the sensing signal from the first device to the target based on the RIS's reflectivity, or the second device can generate a sensing signal and send it to the target based on the RIS's refractionability. Both methods can reduce the latency of the first device sensing the target and improve the efficiency of collaborative sensing.

[0100] It should be understood that the cooperative awareness method in the embodiments of this application may be applied to, but is not limited to, the following systems: Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), General Packet Radio Service (GPRS), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Advanced Long Term Evolution (LTE-A), New Radio (NR), evolution systems of NR, LTE-based access to unlicensed spectrum (LTE-U), NR-based access to unlicensed spectrum (NR-U), Universal Mobile Telecommunications System (UMTS), and Worldwide Interoperability for Microwave. NR systems include WiMAX (Wi-Fi), WLAN (Wireless Local Area Networks), WiFi (Wireless Fidelity), next-generation communication systems, and other communication systems. NR systems can also be referred to as fifth-generation mobile networks (5G) communication systems.

[0101] The first device may be, but is not limited to, terminal devices and network devices, and the second device may be, but is not limited to, terminal devices and network devices. The second device is a device with integrated RIS (Reference System).

[0102] The network equipment can be a base station (BTS) in a GSM or CDMA system, a base station (NodeB, NB) in a WCDMA system, an evolved Node B (eNB or eNodeB) in an LTE system, or a radio controller in a cloud radio access network (CRAN). Alternatively, the network equipment can be a mobile switching center, relay station, access point, hub, switch, bridge, router, network-side equipment in a 5G network, or network equipment in a future evolved public land mobile network (PLMN). When the communication system is an NR system, the network device can be a radio access network ((R)AN) device in the NR system. The (R)AN device in the NR system can be: access point (AP) of non-3GPP access networks such as WiFi networks, next-generation base stations (which can be collectively referred to as next-generation radio access network nodes (NG-RAN nodes), including new radio interface base stations (NRnodeB, gNB), next-generation evolved NB (NG-eNB), gNBs with separate central unit (CU) and distributed unit (DU), etc.), new radio controller (NR controller), radio remote module, micro base station, relay, transmission receive point (TRP), transmission point (TP) or other nodes.

[0103] Terminal devices can be mobile devices or fixed devices. Terminal devices can be, but are not limited to, devices with antennas such as mobile phones, tablets, laptops, speakers, headphones, wearable devices, smart screens, smart home appliances, Internet of Things (IoT) devices, and in-vehicle devices. Optionally, terminal devices can also be personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices, virtual reality (VR) terminal devices, drones, augmented reality (AR) terminal devices, wireless terminals in industrial control, and wireless terminals in smart homes. The form of network devices and terminal devices is not limited in this application embodiment.

[0104] Figure 2 This is a schematic diagram of another system architecture applicable to the embodiments of this application. For example... Figure 2 As shown, in this system architecture, the first device can be a vehicle-mounted device, the second device can be a roadside device, and the target can be another vehicle-mounted device. When the vehicle-mounted device senses another vehicle-mounted device, due to obstacles (such as vehicles), it can utilize a roadside device to collaboratively sense the other vehicle-mounted device. Roadside devices can be, but are not limited to, monitoring equipment installed on both sides of the road. It should be understood that the system architecture and scenarios to which the collaborative sensing method is applicable are not limited in the embodiments of this application. Figure 2 In China, vehicles represent onboard equipment.

[0105] Before introducing the collaborative sensing method provided in the embodiments of this application, the structure of the second device integrated with RIS and the RIS capabilities will be explained first. Figure 3A This is a schematic diagram of a current electronic device. (Refer to...) Figure 3AIn one embodiment, the electronic device may include an application processor, a modem, a radio frequency (RF) integrated circuit (IC), an RF front-end, and an antenna. In a scenario where the electronic device transmits signals, the application processor is used to send service data to the modem. For example, in a scenario where the electronic device is making a video call with another device, the service data may be video data. The modem is used to perform baseband processing on the service data (such as video data), encoding and modulating it to output a baseband signal. The RF IC is used to modulate the low-frequency baseband signal to a high-frequency band to obtain a high-frequency RF signal. Since the RF signal modulated by the RF IC has low power, the RF front-end is used to amplify the power of the RF signal. The antenna is used to transmit the RF signal from the RF front-end, thus enabling the electronic device to transmit signals. Similarly, the antenna can receive RF signals from other devices, process them sequentially through the RF front-end, the RF IC, and the modem to obtain a digital signal, and then send it to the application processor for processing. It should be understood that further descriptions of the application processor, modem, RF IC, RF front-end, and antenna can be found in the relevant descriptions in the prior art.

[0106] Figure 3B This is a schematic diagram of the structure of a second device provided in an embodiment of this application. Compared to Figure 3A , Figure 3B The second device shown may also include a RIS (Radio Reflector Array). A RIS is an array antenna based on an artificial electromagnetic surface, and it consists of multiple array elements. By designing the characteristics and spatial arrangement of the RIS elements, and controlling parameters such as the amplitude, phase, polarization, beam, and orbital angular momentum of electromagnetic waves, functions such as deflection, focusing, and absorption of electromagnetic energy can be achieved.

[0107] Different second devices can have different RIS capabilities. RIS capabilities may include, but are not limited to, RIS reflection and RIS refraction capabilities. RIS refraction capability can be referred to as RIS transmission capability. In one embodiment, the modem can send control information to the RIS, which may include parameters such as the phase and amplitude of each antenna element of the RIS. The second device can adjust the phase and amplitude parameters of each antenna element of the RIS based on the control information, thereby achieving the reflection or refraction of the sensed signal.

[0108] In one embodiment, the second device has RIS reflection capability. The RIS does not participate in the transmission and reception of the second device's wireless signals, but is used to reflect sensing signals. Figure 4A This is a schematic diagram of a RIS provided in an embodiment of this application. Figure 4A The shaded squares in the diagram represent the antenna units in the RIS. The RIS can reflect sensing signals from the first device based on its reflective capabilities.

[0109] In one embodiment, the second device has RIS refraction capability, and the RIS can assist the second device in transmitting and receiving sensing signals. Figure 4B Another schematic diagram of a RIS provided for an embodiment of this application. (Refer to...) Figure 4B The second device can generate a sensing signal and transmit it to the RIS via an antenna. The RIS can refract the sensing signal based on its refractive power. The RIS can also receive the echo signal in response to the sensing signal based on its refractive power. In other words, the RIS refractive power characterizes that the second device supports generating and transmitting the sensing signal.

[0110] In one embodiment, the second device has RIS reflective and RIS refractive capabilities. Figure 4C Another schematic diagram of a RIS provided for an embodiment of this application. (Refer to...) Figure 4C The RIS can both reflect the sensing signal from the first device and receive the echo signal in response to the sensing signal, as described above. Figure 4A and Figure 4B The relevant description in the document.

[0111] In one embodiment, the first device can acquire the RIS capability of the second device, and then the first device can use different sensing strategies based on the RIS capability of the second device to cooperate with the second device to sense the target.

[0112] In one embodiment, the second device can report its RIS capabilities to the first device. For example, the second device can report its RIS capabilities to the first device via Layer 3 (L3) messages, Layer 2 (L2) messages, Layer 1 (L1) messages, or by data transmission. It should be understood that Layer 1 is the physical layer, Layer 2 is the media access control layer, and Layer 3 is the access layer. It should also be understood that the physical layer, media access control layer, and access layer in this embodiment can be referred to by other names, or divided into more or fewer layers, without limitation.

[0113] For example, the first device is a base station, and the second device is a mobile phone. When accessing the base station, the second device can carry RIS capability in radio resource control (RRC) signaling (Layer 3 signaling) to report the RIS capability to the first device. Alternatively, when accessing the base station, the second device can carry RIS capability in media access control-control element (MAC CE) signaling (Layer 2 signaling) to report the RIS capability to the first device. Alternatively, the second device can carry RIS capability in the signaling (Layer 1 signaling) or data transmitted on the uplink channel to report the RIS capability to the first device. The uplink channel may include, but is not limited to, the physical uplink shared channel (PUSCH) and the physical uplink control channel (PUCCH).

[0114] In one embodiment, the first device can query the RIS capability of the second device. For example, taking the second device as user equipment (UE), after the first device and the second device are connected, the first device can send a RIS capability enquiry to the second device. In response to the RIS capability enquiry, the second device feeds back its RIS capability to the first device through a UE capability information message.

[0115] In one embodiment, the RIS capability of the second device may include: RIS-supported operating modes. RIS-supported operating modes may be: no RIS support, support for RIS reflection and / or RIS refraction. RIS reflection can be understood as RIS reflection capability, and RIS refraction can be understood as RIS refraction capability. In one embodiment, the second device may use bits to represent the RIS-supported operating modes, as shown in Table 1 below:

[0116] Table 1

[0117] Bit Explanation of RIS Supported Working Modes 00 RIS reflection and RIS refraction are not supported. 01 RIS reflection 10 RIS Refraction 11 Supports RIS reflection and RIS refraction

[0118] It should be understood that in the embodiments of this application, the second device may also use other identifiers, such as using "reflection" to represent RIS reflection and "refraction" to represent RIS refraction. Or, "R1" to represent RIS reflection and "R2" to represent RIS refraction. The embodiments of this application do not limit the way the operating modes supported by RIS are represented.

[0119] In one embodiment, the RIS capability may further include: RIS maximum gain, RIS scan range, RIS operating bandwidth, and RIS size. Since the RIS can be viewed as an antenna, the RIS maximum gain can be understood as a measure of the RIS's ability to transmit and receive signals in a specific direction. For example, the RIS maximum gain could be 17 dBi. The RIS scan range can be understood as the range that the RIS beam can cover, such as ±50°. The RIS operating bandwidth can be understood as the frequency range in which the RIS operates. The RIS size can be understood as the dimensions of the RIS, and can be referenced to the relevant descriptions of antenna dimensions.

[0120] After the first device acquires the RIS capability of the second device, it can store the RIS capability of the second device. The first device can then store the RIS capability when needed.

[0121] When a second device collaborates in sensing a target, the first device can employ different sensing strategies based on the second device's RIS capabilities to collaboratively sense the target. In one embodiment, the first device can store the RIS capabilities of multiple second devices. When the first device needs the second device to collaborate in sensing a target, it can select a target second device from among the multiple second devices. The first device can then collaboratively sense the target through the target second device.

[0122] For example, the first device may select the second device with the best channel quality, the highest RIS maximum gain, or the largest RIS scanning range as the target second device. Alternatively, the first device may select the second device from which there are no obstacles between it and the target as the target second device. This application does not limit the method by which the first device selects the target second device from among multiple second devices. In the following embodiments, the second device that cooperates with the first device in sensing is the target second device.

[0123] Figure 5 This is a schematic diagram of an embodiment of the collaboration-awareness method provided in this application. (Refer to...) Figure 5 Collaborative sensing methods can include:

[0124] S501, the first device acquires the RIS capability of the second device.

[0125] S501 can be referred to in the relevant description above.

[0126] S502, the first device, based on the RIS capability of the second device, adopts different sensing strategies and collaborates with the second device to sense the target.

[0127] Specifically, if the second device has RIS reflection capability, it can passively cooperate with the first device to sense the target; that is, the second device can passively cooperate with the first device to sense the target. If the second device has RIS refraction capability, it can actively cooperate with the first device to sense the target; that is, the second device can actively cooperate with the first device to sense the target. If the second device has both RIS reflection and RIS refraction capabilities, it can cooperate with the first device in a combined manner to sense the target.

[0128] In other words, if the second device has RIS reflection capability, the sensing strategy can be: the second device passively cooperates in sensing the target. If the second device has RIS refraction capability, the sensing strategy can be: the second device actively cooperates in sensing the target. If the second device has both RIS reflection and RIS refraction capabilities, the sensing strategy can be: the second device and the first device cooperate in a hybrid manner to sense the target. Figure 5 The three perception strategies shown can be specifically described in the following embodiments.

[0129] In this embodiment of the application, the first device can adopt different sensing strategies and sensing targets based on the RIS capability of the second device, thereby reducing the sensing latency of the first device and improving the efficiency of collaborative sensing.

[0130] The collaborative awareness method provided in this application will be described below with reference to specific embodiments. These embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0131] In one embodiment, the second device has RIS reflection capability, and the second device can passively cooperate in sensing the target. This can be understood as: the second device does not participate in the generation and reception of sensing signals, but reflects the sensing signals from the first device to the target. Figure 6 This is a flowchart illustrating another embodiment of the collaboration-aware method provided in this application. Figure 6 As shown, the collaborative awareness method may include:

[0132] S601, the first device sends control information to the second device.

[0133] In one embodiment, the control information may include RIS parameters, which indicate the parameters of each antenna element in the RIS. The first device may send control information to the second device based on the RIS capability of the second device. In this embodiment, the second device has RIS reflection capability, and the RIS parameters in the control information may be RIS reflection parameters. RIS reflection parameters may include, but are not limited to, the phase and amplitude of each antenna element in the RIS. The phase and amplitude of each antenna element represented by the RIS parameters in the control information may be represented in matrix form or in binary form; this embodiment does not limit the representation.

[0134] In one embodiment, the first device can generate RIS parameters for the second device based on target information, and then carry the RIS parameters in the control information. For example, the first device can use a beamforming algorithm to generate the RIS parameters for the second device. Target information may include: target identifier, orientation, or location. The target identifier may be, but is not limited to, the target's International Mobile Equipment Identity (IMEI) or the target's mobile phone number. Wherein, when the target information includes the target identifier, the second device can generate RIS reflection parameters for the second device based on the target identifier. For example, the second device can obtain the target's location or orientation based on the target identifier, and then generate RIS reflection parameters based on the target's location or orientation. The RIS reflection parameters enable the second device to reflect the sensing signal from the first device to the target; it can also be understood that the second device can adjust the RIS beam toward the target based on the RIS reflection parameters.

[0135] In one embodiment, orientation can be referred to as location, and the following explanation uses location as an example. The first device can generate RIS reflection parameters for the second device based on target information. In other words, the second device, based on control information from the first device, adjusts the parameters of each antenna element to the parameters of each antenna element characterized by the RIS reflection parameters. The adjusted RIS can reflect the sensed signal from the first device back to the target. It should be noted that the first device has already acquired the target's location; the first device's sensing requirement for the target can be sensing the target's speed, size, etc., not its location.

[0136] In one embodiment, the control information may include target information. The second device may generate RIS parameters based on the control information, and these RIS parameters may be RIS reflection parameters. The generation of RIS reflection parameters by the second device can be referenced to the relevant description of RIS parameter generation by the first device.

[0137] S602, the second device performs beamforming on the RIS in the second device based on control information.

[0138] The second device can obtain the RIS reflection parameters of the second device based on control information. The second device can then perform beamforming on the RIS based on these RIS reflection parameters. This beamforming can be understood as the second device adjusting the phase and amplitude of each antenna element in the RIS based on the phase and amplitude of each element in the RIS reflection parameters. It should be understood that the beam of the beamformed RIS points towards the target; for example, when the second device receives a sensing signal from the first device, it can transmit it to the target via the RIS beam. Beamforming can also be referenced in current descriptions of antenna beamforming.

[0139] S603, the first device sends a sensing signal to the second device.

[0140] In one embodiment, the sensing signal can be an electromagnetic wave signal, such as a beam or an omnidirectional signal. A beam can be understood as a beam emitted by the antenna of the first device, or an ultrasonic beam, radar beam, etc., emitted by the first device. An omnidirectional signal can be a signal emitted by the antenna. The sensing signal is used to enable the target to feed back an echo signal.

[0141] In one embodiment, the first device can generate a sensing signal based on sensing requirements. Sensing requirements may include sensing objectives, sensing performance requirements, and sensing parameters. The sensing objectives may include, but are not limited to, ranging, sensing target size, and sensing target velocity. Sensing performance requirements may include, but are not limited to, sensing accuracy and precision. Sensing parameters may include, but are not limited to, sensing waveforms and sensing resources. For example, the sensing waveform may be a single-carrier or multi-carrier waveform, and sensing resources can be understood as sensing on a specific frame or carrier. Optionally, sensing resources may be sensing time-frequency resources.

[0142] It should be understood that the sensing signal is adapted to the sensing requirement, such as the waveform of the sensing signal being the waveform in the sensing requirement, and the sensing resource being the sensing resource in the sensing requirement.

[0143] S604, the second device reflects the sensing signal to the target.

[0144] In this embodiment, because the second device has adjusted the phase and amplitude of each antenna element based on the RIS reflection parameters, the second device, upon receiving a sensing signal from the first device, can directly reflect the sensing signal to the target via the RIS. Alternatively, the second device can perform beamforming on the RIS within itself, allowing it to carry the sensing signal across the beam generated by the RIS and reflect it to the target.

[0145] Because the second device does not need to process the sensing signal but directly reflects it, the solution in this application can be understood as follows: the second device can send the sensing signal to the target in the same time slot as it receives the sensing signal. Therefore, compared with the prior art where the second device sends the sensing signal to the target in the next time slot, the second device can send the sensing signal to the target in the same time slot as it receives the sensing signal, which can improve the speed of the second device's response to the sensing signal, thereby reducing the latency of the first device's sensing of the target and improving the efficiency of cooperative sensing. In addition, in the prior art, the second device needs to process the sensing signal, resulting in high power consumption. In the prior art, the second device processes the sensing signal and forwards it in the next time slot, occupying the opportunity that the second time slot can be used to send wireless signals, reducing the communication opportunities of the second device. In the embodiment of this application, the second device directly reflects the sensing signal, resulting in low power consumption, and the sensing signal is sent in almost the same time slot, which will not affect the communication of the second device. In addition, because the RIS (equivalent to an antenna) can enhance the reflected sensing signal to the target, compared with the cooperative sensing scheme in the prior art, the second device in the embodiment of this application can enhance the sensing signal received by the target.

[0146] S605, the first device receives the echo signal fed back by the target.

[0147] The sensing signal reflected by the second device illuminates the target and can generate an echo signal after reflection from the target. In other words, the target can respond to the sensing signal reflected by the second device and send back an echo signal. The first device can receive the echo signal sent back by the target.

[0148] In one embodiment, the echo signal can be understood as the signal reflected from the target by the sensed signal. For example, the sensed signal is an ultrasonic beam or a radar beam, and the echo signal can be the ultrasonic beam or radar beam reflected from the target. Because RIS can enhance the reflected sensed signal to the target, the echo signal reflected from the target is also enhanced, thereby improving the accuracy and precision of the sensed signal.

[0149] S606, the first device obtains the target perception result based on the echo signal.

[0150] In one embodiment, the first device can obtain the target perception result based on the attributes of the sensed signal and the attributes of the echo signal. Taking the echo signal as an example, the attributes of the echo signal can be, but are not limited to, the frequency, phase, amplitude of the echo signal, and the time when the first device receives the echo signal. It should be understood that the first device may obtain the target perception result based on different "attributes of the sensed signal and attributes of the echo signal" depending on its perception requirements.

[0151] For example, if the first device needs to sense the speed of a target, according to the Doppler effect, the frequency change of the echo signal is related to the "relative speed between the first device and the target". Accordingly, the first device can determine the relative speed between the target and the first device based on the frequency change of the echo signal, and then obtain the speed of the target based on the speed of the first device.

[0152] Figure 7A for Figure 6 The illustrated embodiment is a flowchart comparing it with the prior art. (Refer to...) Figure 7A In existing technologies, for example, at time t1, the first device sends a sensing signal to the second device. Assuming the second device also receives the sensing signal at time t1, it processes the sensing signal and forwards it to the target at time t2. However, in this embodiment, at time t1, the first device sends a sensing signal to the second device. Assuming the second device also receives the sensing signal at time t1, the second device can reflect the sensing signal to the target at time t1 based on its RIS reflection capability. This reduces the latency of the second device's response to the sensing signal and also reduces its power consumption.

[0153] Figure 7B for Figure 6 A schematic diagram of the corresponding signal transmission. (Refer to...) Figure 7B The first device is a base station, and the second and third devices are mobile phones. The second device may integrate a Reflection Signal Array (RIS). Based on the above S601-S602, the second device can adjust the phase and amplitude of each antenna element in the RIS. The first device sends a sensing signal to the second device, and the second device can reflect the sensing signal to the target based on the RIS's reflection capability. The target can then send an echo signal back to the first device based on the sensing signal.

[0154] In this embodiment, the first device sends control information to the second device. Based on the control information, the second device performs beamforming on the RIS (Resonance Array) within the second device. The first device sends a sensing signal to the second device, which can reflect the sensing signal to the target. The target can then send an echo signal back to the first device based on the sensing signal. Because the second device does not process the sensing signal but instead reflects it to the target, it consumes less power and responds faster to the sensing signal, reducing the latency for the first device to obtain the sensing result and improving the efficiency of collaborative sensing. Furthermore, the RIS in the second device can enhance the reflected sensing signal to the target in real time, thereby amplifying the target's echo signal and improving the accuracy and precision of the sensing.

[0155] In the above embodiments, if an obstacle exists between the first device and the target, the first device cannot receive the echo signal from the target and therefore cannot sense the target. This application provides a collaborative sensing method in which a second device actively generates a sensing signal and obtains a sensing result based on the echo signal from the target, then feeds the sensing result back to the first device. This allows the first device to sense the target even when an obstacle exists between them, and compared to existing collaborative sensing methods, it reduces the latency of the first device's target sensing and improves the efficiency of collaborative sensing. In one embodiment, the second device has RIS refraction capability, enabling it to actively collaboratively sense the target. That is, when the second device has RIS refraction capability, it can actively generate a sensing signal to enable the first device to sense the target. See [specific details omitted]. Figure 8 Related descriptions.

[0156] Figure 8 This is a flowchart illustrating another embodiment of the collaboration-aware method provided in this application. Figure 8 As shown, the collaborative awareness method may include:

[0157] S801, the first device sends control information to the second device.

[0158] The first device can send control information to the second device based on the RIS capability of the second device. In this embodiment, the second device has RIS refraction capability. In one embodiment, the control information may include RIS parameters and sensing requirements, where the RIS parameters are RIS refraction parameters. RIS refraction parameters may include, but are not limited to, the phase and amplitude of each antenna element in the RIS. The RIS refraction capability enables the second device to transmit and receive sensing signals generated by the second device.

[0159] In one embodiment, the first device can generate RIS refraction parameters for the second device based on the target information, and then carry the RIS refraction parameters in the control information. In another embodiment, the control information may further include the target information, and the second device can generate the RIS refraction parameters based on the target information. Whether the first device generates the RIS refraction parameters or the second device generates the RIS refraction parameters, refer to the relevant description in S601 above.

[0160] In other words, the second device can obtain the RIS refraction parameters based on the control information from the first device. Based on the RIS refraction parameters, the second device can adjust the parameters of each antenna element to the parameters of each antenna element characterized by the RIS refraction parameters. The RIS with adjusted parameters can send the sensing signal generated by the second device to the target, and can also receive the echo signal fed back by the target.

[0161] S802, the second device performs beamforming on the RIS in the second device based on control information.

[0162] The second device can perform beamforming on the RIS (Reflection Signal Array) within itself based on the RIS refraction parameters. This beamforming can be understood as the second device adjusting the phase and amplitude of each antenna element of the RIS based on the phase and amplitude of each element in the RIS refraction parameters. It should be understood that the beamformed RIS is directed towards the target; for example, the second device can receive echo signals from the target.

[0163] S803, the second device sends a sensing signal to the target.

[0164] The second device can generate sensing signals based on the sensing requirements in the control information, and the relevant description of the first device generating sensing signals can be referred to above.

[0165] After the second device performs beamforming on the RIS in the second device, the second device can transmit sensing signals to the target based on the beam carried by the RIS. In one embodiment, refer to the above. Figure 4B The second device generates a sensing signal based on the sensing requirements in the control information and transmits the sensing signal to the RIS via an antenna. The RIS can then use its refraction capability to refract the sensing signal toward the target.

[0166] In this embodiment, the second device can generate and send sensing signals to the target. Compared to existing collaborative sensing schemes, the second device does not need to process the sensing signals, thus reducing the latency of the first device in sensing the target and improving the efficiency of collaborative sensing. Figure 9 for Figure 8 The illustrated embodiment is a flowchart comparing the process with the prior art. In the prior art, for example, at time t1, the first device sends a sensing signal to the second device. Assuming the second device also receives the sensing signal at time t1, it processes the sensing signal and forwards it to the target at time t2. In the embodiment of this application, at time t1, the second device can generate a sensing signal and send it to the target. Regarding the transmission process of the sensing signal, the second device generates the sensing signal (which can offset the time it takes for the first device to generate the sensing signal), and without the need for the sensing signal to be transmitted from the first device to the second device and processed by the second device, the second device can send the sensing signal to the target. Therefore, the latency of the first device sensing the target can be reduced, and the efficiency of collaborative sensing can be improved.

[0167] S804, the second device receives the echo signal fed back by the target.

[0168] The sensing signal refracted by the second device is projected onto the target and can be reflected by the target to generate an echo signal. Therefore, the second device can receive the echo signal from the target. In one embodiment, refer to... Figure 4B In the second device, the RIS can receive the echo signal from the target.

[0169] S805, the second device obtains the target perception result based on the echo signal.

[0170] S805 can be referred to in the relevant description of the first device in S606, and will not be repeated here.

[0171] S806, the second device sends the perception results of the target to the first device.

[0172] The second device can send the perception results of the target to the first device, thereby enabling the first device to perceive the target.

[0173] Figure 10 for Figure 8 A schematic diagram of the corresponding signal transmission. (Refer to...) Figure 10 The first device is a base station, and the second and third devices are mobile phones. The second device integrates a Resonant Radar System (RIS). Based on the aforementioned S801-S802, the second device can adjust the phase and amplitude of each antenna element in the RIS. The second device can generate a sensing signal and, based on the RIS's refraction capability, refract the sensing signal to the target. The target can then return an echo signal based on the sensing signal, which the second device can receive. Specifically, the second device can receive the echo signal from the target based on the RIS and / or its antennas. Figure 10 The following example illustrates how a second device can receive echo signals from a target based on RIS (Reference Signal Reception). Based on the echo signals, the second device obtains the target's perception results and can then transmit these results back to the first device.

[0174] In this embodiment, a second device actively generates a sensing signal for collaborative sensing and obtains a sensing result based on the echo signal from the target. This sensing result is then fed back to the first device. This solves the problem that the first device cannot sense the target when there is an obstacle between them. Furthermore, the second device generates the sensing signal and sends it to the target without transmission or processing, thus reducing the latency of the first device's target perception and improving the efficiency of collaborative sensing. This embodiment also possesses other technical effects described in the above embodiments, which can be found in the relevant descriptions.

[0175] In one embodiment, the second device has both RIS reflective and RIS refractive capabilities, and the second device can cooperate with the first device to sense targets. Figure 11This is a flowchart illustrating another embodiment of the collaboration-aware method provided in this application. Figure 11 As shown, the collaborative awareness method may include:

[0176] S1101, the first device sends control information to the second device.

[0177] In one embodiment, the control information may include RIS parameters, which indicate the parameters of each antenna element in the RIS. The first device may send control information to the second device based on the RIS capability of the second device. In this embodiment, the second device has RIS reflection and RIS refraction capabilities, so the RIS parameters in the control information may include RIS reflection parameters and RIS refraction parameters, which can be referred to the relevant descriptions in the above embodiments.

[0178] The first device can generate RIS parameters for the second device based on the target information, and then carry the RIS parameters in the control information. In one embodiment, the control information may include the target information. The second device can generate RIS reflection parameters and RIS refraction parameters in response to the control information. The generation of RIS reflection parameters and RIS refraction parameters by the first device and the second device can be referred to the relevant description in the above embodiments.

[0179] In one embodiment, when the second device has both RIS reflection and RIS refraction capabilities, the first device can instruct the second device to use either the RIS reflection or RIS refraction capability. In one possible implementation, the control information may include RIS reflection parameters or RIS refraction parameters, and the second device can perform beamforming on the RIS in the second device based on these parameters, as described in the preceding embodiments. In another possible implementation, the control information may include target information and an identifier of the RIS capability, which is used to instruct the second device to use RIS reflection and / or RIS refraction capabilities. In one embodiment, when the first device instructs the second device to use both RIS reflection and RIS refraction capabilities, the control information may not include the identifier of the RIS capability. In this embodiment, the identifier of the RIS capability is used to instruct the second device to use either RIS reflection or RIS refraction capabilities. Accordingly, the second device can obtain RIS parameters based on the target information and the identifier of the RIS capability. For example, if the identifier indicates RIS reflection capability, the second device can generate RIS reflection parameters based on the target's location. It should be understood that when the first device uses RIS reflectivity, the second device can passively cooperate in sensing the target; when the first device uses RIS refraction, the second device can actively cooperate in sensing the target. For details, please refer to the relevant descriptions in the above embodiments.

[0180] S1102, the second device performs beamforming on the RIS in the second device based on the control information.

[0181] In one embodiment, some antenna elements in the RIS support RIS reflection, while the remaining antenna elements support RIS refraction. Beamforming of the RIS by the second device can be understood as follows: the second device can adjust the phase and amplitude of the antenna elements supporting RIS reflection based on the phase and amplitude of each antenna element in the RIS reflection parameters; similarly, the second device can adjust the phase and amplitude of the antenna elements supporting RIS refraction based on the phase and amplitude of each antenna element in the RIS refraction parameters. It should be understood that the beam of the beam-shaped RIS is directed towards the target; for example, the second device can reflect sensing signals to the target or receive echo signals from the target.

[0182] S1103, the first device sends a sensing signal to the second device.

[0183] S1104, the second device reflects the sensing signal to the target.

[0184] S1103-S1104 can be referred to the relevant descriptions in S603-S604. In S1104, the second device can use the antenna elements in the RIS that support RIS reflection to reflect the sensing signal to the target. Because the second device does not need to process the sensing signal but directly reflects it, the speed at which the second device responds to the sensing signal can be improved, thereby reducing the latency of the first device in sensing the target and improving the efficiency of cooperative sensing.

[0185] S1105, the first device receives the echo signal fed back by the target.

[0186] S1105 can be referenced from the relevant description in S605.

[0187] S1106, the second device receives the echo signal fed back by the target.

[0188] S1105 and S1106 are not sequential and can be executed simultaneously. Because the RIS in this embodiment has RIS refraction capability, the second device can receive the echo signal from the target feedback.

[0189] S1107, the first device obtains the first perception result of the target based on the echo signal.

[0190] S1107 can be referenced from the relevant description in S606.

[0191] S1108, the second device obtains the second perception result of the target based on the echo signal.

[0192] There is no specific order between S1107 and S1108; they can be executed simultaneously. S1108 can be referenced from the relevant description in S805.

[0193] S1109, the second device sends the second sensing result to the first device.

[0194] S1109 can be referenced from the relevant description in S806.

[0195] S1110, the first device obtains the perception result of the target based on the first perception result and the second perception result.

[0196] The first device can fuse the first perception result and the second perception result based on a preset fusion rule to obtain the perception result of the target.

[0197] In one embodiment, the preset fusion rule can be: the average of the first perception result and the second perception result is the perception result of the target. For example, if the first device needs to perceive the speed of the target, the first perception result indicates that the speed of the target is V1, and the second perception result indicates that the speed of the target is V2, then the first device can use the average of V1 and V2 as the speed of the target.

[0198] In one embodiment, the preset fusion rule can be: obtaining the target's perception result based on a first perception result, the weight of the first perception result, a second perception result, and the weight of the second perception result. For example, if the perception capability of the first device is higher than that of the second device, the weight of the first perception result can be higher than the weight of the second perception result. For example, if the first device needs to perceive the target's speed, the first perception result represents the target's speed as V1, the second perception result represents the target's speed as V2, the weight of the first perception result is 0.7, and the weight of the second perception result is 0.3, then the target's speed can be (0.7V1 + 0.3V2) / 2.

[0199] In this embodiment of the application, no specific limitation is made to the preset fusion rules; the preset fusion rules mentioned above are for illustrative purposes only.

[0200] Figure 12 for Figure 11 A schematic diagram of the corresponding signal transmission. (Refer to...) Figure 12 The first device is a base station, and the second device and the target are a mobile phone. The second device integrates a RIS (Radio Reflector System). Based on the above steps S1101-S1102, the second device can adjust the phase and amplitude of each antenna element in the RIS. The first device sends a sensing signal to the second device. The second device can reflect the sensing signal to the target based on the reflection capability of the RIS. The target can respond to the sensing signal by feeding back an echo signal. The second device can receive the echo signal based on the refraction capability of the RIS, and the first device can also receive the echo signal. The second device can obtain a second sensing result based on the echo signal and send the second sensing result back to the first device. The first device can obtain a first sensing result based on the echo signal, and then fuse the first and second sensing results to obtain the sensing result of the target.

[0201] In this embodiment, on the one hand, the second device does not need to process the sensing signal but directly reflects the sensing signal to the target, which can improve the speed at which the second device responds to the sensing signal, thereby reducing the latency of the first device in sensing the target and improving the efficiency of collaborative sensing. Refer to the relevant description in the above embodiments. On the other hand, when there is an obstacle between the first and second devices, the second device can feed back the target sensing result to the first device based on the echo signal, enabling the first device to sense the target. Furthermore, the first device can fuse the first and second sensing results to obtain the target sensing result, achieving two-level sensing between the first and second devices, which can improve the accuracy of sensing. This embodiment also possesses other technical effects found in the above embodiments, which can be referred to the relevant description in the above embodiments.

[0202] Figure 13This is a schematic diagram of a collaborative sensing device provided in an embodiment of this application. The collaborative sensing device 1300 involved in this embodiment can be the aforementioned first device, or it can be a chip applied to the first device. The collaborative sensing device 1300 can be used to execute the actions of the first device in the above method embodiment. Figure 13 As shown, the collaborative sensing device 1300 may include a transceiver module 1301 and a processing module 1302. Wherein,

[0203] The processing module 1302 is used to cooperate with the second device to sense a target based on the RIS capability of the second device. The RIS capability is RIS reflection capability and / or RIS refraction capability. The RIS reflection capability is used to characterize that the second device supports reflecting the sensing signal from the first device to the target. The RIS refraction capability is used to characterize that the second device supports generating the sensing signal and sending the sensing signal to the target.

[0204] In one possible implementation, the transceiver module 1301 is used to send control information to the second device based on the RIS capability. The control information is used by the second device to perform beamforming on the RIS, and the beamformed RIS beam is directed toward the target.

[0205] In one possible implementation, the control information includes RIS parameters, which are related to RIS capabilities. The processing module 1302 is further configured to obtain the RIS parameters based on target information, including the target's identifier, orientation, or location.

[0206] In one possible implementation, the control information includes target information, which includes the target's identifier, orientation, or location.

[0207] In one possible implementation, when the RIS capability is RIS reflection capability and RIS refraction capability, the control information further includes: an identifier of the RIS capability, which is used to instruct the second device to use RIS reflection capability and / or RIS refraction capability.

[0208] In one possible implementation, when the RIS capability is a RIS refraction capability, the control information also includes: sensing requirements, which include: sensing purpose, sensing performance requirements, and sensing parameters.

[0209] In one possible implementation, the RIS capability includes RIS reflection capability. The transceiver module 1301 is also used to send sensing signals to the second device and receive echo signals from the target; the processing module 1302 is also used to obtain the sensing results of the target based on the echo signals.

[0210] In one possible implementation, the RIS capability also includes RIS refraction capability. The transceiver module 1301 is further configured to receive a second sensing result from the second device. The processing module 1302 is specifically configured to obtain a first sensing result of the target based on the echo signal; and to obtain a sensing result based on the first and second sensing results.

[0211] In one possible implementation, the RIS capability is a RIS refraction capability. The transceiver module 1301 is also used to receive sensing results from the second device.

[0212] In one possible implementation, the transceiver module 1301 is also used to receive the RIS capability reported by the second device.

[0213] The collaborative sensing device provided in this application embodiment can execute the actions of the first device in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0214] Figure 14 This is a schematic diagram of a collaborative sensing device provided in an embodiment of this application. The collaborative sensing device 1400 involved in this embodiment can be the aforementioned second device, or it can be a chip applied to the second device. The collaborative sensing device 1400 can be used to execute the actions of the second device in the above method embodiment. Figure 14 As shown, the collaborative sensing device 1400 may include: a transceiver module 1401, a processing module 1402, and a RIS 1403. Among them,

[0215] The processing module 1402 is used to cooperate with the first device to sense a target based on the RIS capability of the second device. The RIS capability is RIS reflection capability and / or RIS refraction capability. The RIS reflection capability is used to characterize that the second device supports reflecting the sensing signal from the first device to the target. The RIS refraction capability is used to characterize that the second device supports generating the sensing signal and sending the sensing signal to the target.

[0216] In one possible implementation, the transceiver module 1401 is used to receive control information from the first device; the processing module 1402 is also used to perform beamforming on the RIS based on the control information, so that the beamformed RIS beam is directed toward the target.

[0217] In one possible implementation, the processing module 1402 is specifically used to obtain RIS parameters based on control information, the RIS parameters being related to RIS capabilities; and to perform beamforming on the RIS based on the RIS parameters.

[0218] In one possible implementation, the control information includes RIS parameters, which are obtained by the first device based on target information, including the target's identifier, orientation, or location.

[0219] In one possible implementation, the control information includes target information. The processing module 1402 is specifically used to obtain RIS parameters based on the target information, which includes the target's identifier, orientation, or location.

[0220] In one possible implementation, when the RIS capability is RIS reflection capability and RIS refraction capability, the control information further includes: an identifier of the RIS capability, which is used to instruct the second device to use the RIS reflection capability and / or RIS refraction capability. The processing module 1402 is specifically used to obtain RIS parameters based on the target information and the identifier of the RIS capability.

[0221] In one possible implementation, the RIS capability includes RIS reflection capability. Transceiver module 1401 is used to receive sensing signals from the first device; RIS 1403 is used to reflect the sensing signals to the target based on RIS beaming.

[0222] In one possible implementation, the RIS capability also includes RIS refraction capability, RIS1403, for receiving echo signals from the target; processing module 1402 is further used to obtain a second sensing result of the target based on the echo signals. Transceiver module 1401 is further used to send the second sensing result to the first device.

[0223] In one possible implementation, the RIS capability is a RIS refraction capability. Processing module 1402 is further configured to generate a sensing signal. RIS 1403 is further configured to transmit the sensing signal to the target based on the RIS beam, and to receive echo signals from the target. Processing module 1402 is further configured to obtain the sensing result of the target based on the echo signals. Transceiver module 1401 is further configured to transmit the sensing result to the first device.

[0224] In one possible implementation, the control information includes: sensing requirements, which include: sensing purpose, sensing performance requirements, and sensing parameters. The processing module 1402 is specifically used to generate sensing signals based on the sensing requirements.

[0225] In one possible implementation, the transceiver module 1401 is also used to report the RIS capability of the second device to the first device.

[0226] The collaborative sensing device provided in this application embodiment can execute the actions of the second device in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0227] It should be noted that the transceiver module described above can actually be a transceiver, or it may include both a transmitter and a receiver. The processing module can be implemented in software via a processing element, or in hardware. For example, the processing module can be a separate processing element, or it can be integrated into a chip in the aforementioned device. Alternatively, it can be stored as program code in the memory of the aforementioned device, and its functions can be called and executed by a processing element. Furthermore, all or part of these modules can be integrated together, or they can be implemented independently. The processing element mentioned here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0228] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together to implement a system-on-a-chip (SOC).

[0229] Figure 15 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device can be either the first device or the second device described above. Figure 15As shown, the electronic device may include: a processor 1501 (e.g., CPU), a memory 1502, and a transceiver 1503; the transceiver 1503 is coupled to the processor 1501, and the processor 1501 controls the transmission and reception operations of the transceiver 1503; the memory 1502 may include high-speed random-access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage device; the memory 1502 may store various instructions for performing various processing functions and implementing the method steps of this application. Optionally, the electronic device involved in this application may also include: a power supply 1504, a communication bus 1505, and a communication port 1506. The transceiver 1503 may be integrated into the transceiver of the electronic device, or it may be a separate transceiver antenna on the electronic device. The communication bus 1505 is used to realize communication connections between components. The aforementioned communication port 1506 is used to realize communication between the electronic device and other peripherals.

[0230] In this embodiment, the memory 1502 is used to store computer executable program code, which includes instructions. When the processor 1501 executes the instructions, the instructions cause the processor 1501 of the electronic device to perform the processing actions of the terminal device in the above method embodiment, and cause the transceiver 1503 to perform the sending and receiving actions of the electronic device in the above method embodiment. The implementation principle and technical effect are similar, and will not be described again here.

[0231] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0232] The term "multiple" in this article refers to two or more. The term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Furthermore, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects; in formulas, the character " / " indicates a "division" relationship between the preceding and following related objects.

[0233] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application.

[0234] It is understood that, in the embodiments of this application, the order of the above-mentioned process numbers does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

Claims

1. A collaborative sensing method, characterized in that, Applied to a first device, and a second device including a reconfigurable smart surface RIS, the method includes: Based on the RIS capability of the second device, the device collaborates with the second device to sense the target. The RIS capability is either RIS refraction capability or a combination of RIS reflection capability and RIS refraction capability. The RIS reflection capability indicates that the second device supports reflecting the sensing signal from the first device to the target. The RIS refraction capability indicates that the second device supports actively generating the sensing signal and sending it to the RIS via an antenna. The RIS then sends the sensing signal to the target based on the RIS refraction capability. This allows the second device to obtain a sensing result based on the echo signal fed back from the target and feed the sensing result back to the first device. Receive the sensing results from the second device.

2. The method according to claim 1, characterized in that, Before cooperating with the second device to sense the target, the method further includes: Based on the RIS capability, control information is sent to the second device. The control information is used by the second device to perform beamforming on the RIS, and the beamformed RIS beam is directed toward the target.

3. The method according to claim 2, characterized in that, The control information includes RIS parameters, which are related to the RIS capability. Before sending the control information to the second device based on the RIS capability, the method further includes: Based on the target information, the RIS parameters are obtained, whereby the target information includes the target's identifier, orientation, or location.

4. The method according to claim 2, characterized in that, The control information includes information about the target, which includes the target's identifier, orientation, or location.

5. The method according to claim 3 or 4, characterized in that, When the RIS capability is the RIS refraction capability, the control information further includes: sensing requirements, which include: sensing purpose, sensing performance requirements, and sensing parameters.

6. The method according to claim 4, characterized in that, When the RIS capability is the RIS reflection capability and the RIS refraction capability, the control information further includes: an identifier of the RIS capability, which is used to instruct the second device to use the RIS reflection capability and / or the RIS refraction capability.

7. The method according to any one of claims 1-4 and 6, characterized in that, The RIS capability includes the RIS reflection capability, and the cooperation with the second device to sense the target includes: Send the sensing signal to the second device; Receive echo signals from the target; Based on the echo signal, the perception result of the target is obtained.

8. The method according to claim 7, characterized in that, The RIS capability also includes the RIS refractive capability, and the method further includes: Receive the second sensing result from the second device; The process of obtaining the perception result of the target based on the echo signal includes: Based on the echo signal, the first perception result of the target is obtained; The perception result is obtained based on the first perception result and the second perception result.

9. The method according to any one of claims 1-4, 6, and 8, characterized in that, The method further includes: Receive the RIS capability reported by the second device.

10. A collaborative sensing method, characterized in that, Applied to a second device, the second device including a reconfigurable smart surface RIS; the method includes: Based on the RIS capability, the second device collaborates with the first device to sense the target. The RIS capability is either RIS refraction capability or a combination of RIS reflection capability and RIS refraction capability. The RIS reflection capability is used to characterize that the second device supports reflecting the sensing signal from the first device to the target. The RIS refraction capability is used to characterize that the second device supports actively generating the sensing signal and sending the sensing signal to the RIS via an antenna. The RIS sends the sensing signal to the target based on the RIS refraction capability. The RIS capability is RIS refraction capability, and the cooperation with the first device to sense the target includes: Generate sensing signals; Based on the beam of the RIS, the sensing signal is sent to the target; Based on the RIS refraction capability, the echo signal from the target is received; Based on the echo signal, the perception result of the target is obtained; the perception result is fed back to the first device.

11. The method according to claim 10, characterized in that, Before cooperating with the first device to sense the target, the method further includes: Receive control information from the first device; Based on the control information, beamforming is performed on the RIS, and the beam of the beam-shaped RIS is directed toward the target.

12. The method according to claim 11, characterized in that, The beamforming of the RIS based on the control information includes: Based on the control information, RIS parameters are obtained, and the RIS parameters are related to the RIS capability; Beamforming is performed on the RIS based on the RIS parameters.

13. The method according to claim 12, characterized in that, The control information includes the RIS parameters, which are obtained by the first device based on the target information, including the target's identifier, orientation, or location.

14. The method according to claim 12, characterized in that, The control information includes information about the target, which includes the target's identifier, orientation, or location. The step of obtaining RIS parameters based on the control information includes: Based on the information about the target, the RIS parameters are obtained.

15. The method according to claim 14, characterized in that, When the RIS capability is the RIS reflection capability and the RIS refraction capability, the control information further includes: an identifier of the RIS capability, which is used to instruct the second device to use the RIS reflection capability and / or the RIS refraction capability; The process of obtaining RIS parameters based on the control information includes: Based on the information about the target and the identifier of the RIS capability, the RIS parameters are obtained.

16. The method according to any one of claims 10-15, characterized in that, The RIS capability includes the RIS reflection capability, and the cooperation with the first device to sense the target includes: Receive the sensing signal from the first device; Based on the beam of the RIS, the sensing signal is reflected to the target.

17. The method according to claim 16, characterized in that, The RIS capability also includes the RIS refraction capability, and after reflecting the sensed signal to the target, it further includes: Based on the RIS refraction capability, the echo signal from the target is received; Based on the echo signal, a second perception result of the target is obtained; The second sensing result is sent to the first device.

18. The method according to claim 11, characterized in that, The control information includes: perception requirements, which include: perception purpose, perception performance requirements, and perception parameters; The generated sensing signal includes: The sensing signal is generated based on the sensing requirements.

19. The method according to any one of claims 10-15 and 17-18, characterized in that, The method further includes: The RIS capability is reported to the first device.

20. An electronic device, characterized in that, include: Processor and memory; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-19.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed, implement the method as described in any one of claims 1-19.

22. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-19.

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