Perception method, device and network equipment

Abstract

The present application discloses a perception method, apparatus, and network device, which belong to the field of communication technology. The perception method of an embodiment of the present application includes: a first network device sends a perception signal; the first network device detects an echo of the perception signal based on a measurement quantity of the perception signal, and obtains a measurement value corresponding to the measurement quantity.

Description

Technical Field

[0001] The present application relates to the field of communications, and in particular to a sensing method, apparatus, and network equipment. Background Art

[0002] Future mobile communication systems, such as B5G or 6G, will possess not only communication capabilities but also perception capabilities. Perception refers to the ability of one or more devices to sense the position, distance, and speed of a target object through the transmission and reception of wireless signals, or to detect, track, identify, and image a target object, event, or environment. With the deployment of small base stations with high-frequency and large-bandwidth capabilities, such as millimeter-wave and terahertz signals, in 6G networks, the perception resolution will be significantly improved compared to centimeter-wave signals, enabling 6G networks to provide more refined perception services.

[0003] The purposes of perception fall into two main categories. The first category involves perception used to assist or enhance communications. For example, a base station tracks a device's movement to provide more accurate beamforming. The other category involves perception not directly related to communications, such as a base station monitoring weather conditions through wireless signals or a mobile phone recognizing user gestures through millimeter-wave wireless sensing.

[0004] Perception methods can be divided into the following categories:

[0005] (1) Active sensing: The device uses the reflected signal of its own transmitted signal, such as the echo, for sensing. The transceiver is located in the same position and can use different antennas to sense the surrounding environment information of the device;

[0006] (2) Passive sensing: The transceivers are located at different locations, and the receiver uses the wireless signals transmitted by the transmitter for sensing. For example, base station A senses the environmental information between base stations A and B by receiving wireless signals from base station B.

[0007] (3) Interactive perception: The perceiver and the target object exchange information and agree on the subject, time, frequency, format, etc. of the electromagnetic wave transmission to complete the perception process.

[0008] There is no related process of wireless sensing in the existing technology, resulting in an incomplete communication process. Summary of the Invention

[0009] The embodiments of the present application provide a perception method, apparatus, and network device, which can solve the problem that the prior art does not have relevant interaction processes for wireless perception and cannot achieve communication perception.

[0010] In a first aspect, a perception method is provided, comprising:

[0011] The first network device sends a perception signal;

[0012] The first network device detects the echo of the perception signal based on the measurement quantity of the perception signal, and obtains a measurement value corresponding to the measurement quantity.

[0013] In a second aspect, a sensing apparatus is provided, which is applied to a first network device and includes:

[0014] A first sending module, configured to send a sensing signal;

[0015] The first acquisition module is configured to enable the first network device to detect the echo of the perception signal based on the measurement quantity of the perception signal, and to obtain a measurement value corresponding to the measurement quantity.

[0016] A third aspect provides a perception method, including:

[0017] The second network device sends at least one of the first sensing requirement and the configuration information of the sensing signal to the first network device.

[0018] In a fourth aspect, a sensing apparatus is provided, which is applied to a second network device and includes:

[0019] The second sending module is used to send at least one of the configuration information of the first perception requirement and the perception signal to the first network device.

[0020] In a fifth aspect, a network device is provided, which includes a processor, a memory, and a program or instruction stored in the memory and runnable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect or the third aspect.

[0021] In the sixth aspect, a network device is provided, which is a first network device, including a processor and a communication interface, wherein the communication interface is used to send a perception signal; the processor is used by the first network device to detect the echo of the perception signal based on the measurement quantity of the perception signal, and obtain a measurement value corresponding to the measurement quantity.

[0022] In the seventh aspect, a network device is provided, which is a second network device, including a processor and a communication interface, wherein the communication interface is used to send at least one of the configuration information of the first perception requirement and the perception signal to the first network device.

[0023] In an eighth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the third aspect are implemented.

[0024] In the ninth aspect, a chip is provided, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps of the method described in the first aspect or the third aspect.

[0025] In a tenth aspect, a computer program / program product is provided, wherein the computer program / program product is stored in a non-volatile storage medium, and the program / program product is executed by at least one processor to implement the steps of the method described in the first aspect or the third aspect.

[0026] In the embodiment of the present application, the received perception signal is detected by using the measurement quantity of the perception signal to obtain the measurement value corresponding to the measurement quantity, thereby improving the network perception process and ensuring that the network can perceive smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of active perception;

[0028] Figure 2 It is a schematic diagram of active perception;

[0029] Figure 3 It is a schematic diagram of the waveform integration classification of perception and communication;

[0030] Figure 4 This is one of the flowcharts of the perception method according to an embodiment of the present application;

[0031] Figure 5 is a schematic diagram of network units involved in a specific application scenario 1;

[0032] Figure 6 This is one of the module schematic diagrams of the sensing device according to an embodiment of the present application;

[0033] Figure 7 is a structural block diagram of a network device according to an embodiment of the present application;

[0034] Figure 8 This is the second flowchart of the sensing method according to the embodiment of the present application;

[0035] Figure 9 This is the second module schematic diagram of the sensing device according to an embodiment of the present application;

[0036] Figure 10 It is a structural block diagram of the communication device of an embodiment of the present application. DETAILED DESCRIPTION

[0037] The following will be combined with the accompanying drawings in the embodiments of this application to clearly describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0038] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first" and "second" are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0039] It is worth noting that the technology described in the embodiments of the present application is not limited to the Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA) and other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technology can be used for the systems and radio technologies mentioned above as well as for other systems and radio technologies. The following description describes a New Radio (NR) system for example purposes, and NR terminology is used in most of the following description, but these technologies can also be applied to applications other than NR system applications, such as 6th Generation (6G) communication systems.

[0040] The following is a description of the related technologies involved in this application:

[0041] Table 1 shows the functions and applications of wireless sensing.

[0042] Table 1 Functions and applications of wireless sensing

[0043]

[0044]

[0045] The perception functions in Table 1 or other perception requirements can be achieved by sending perception signals and receiving / detecting perception signals; wherein, the devices sending perception signals and receiving / detecting perception signals can be the same device or different devices.

[0046] Synaesthesia integrated design is feasible from the following four aspects:

[0047] Both the communication system and the perception system are based on electromagnetic wave theory, using the emission and reception of electromagnetic waves to acquire and transmit information;

[0048] Both the communication system and the perception system have structures such as antennas, transmitters, receivers, and signal processors, and have a large overlap in hardware resources;

[0049] With the development of technology, the two have more and more overlaps in operating frequency bands;

[0050] There are similarities in key technologies such as signal modulation and reception detection, and waveform design.

[0051] The air interface design of the B5G system or 6G system will support both wireless communication signals and wireless perception signals. Through integrated communication and perception means such as signal joint design and / or hardware sharing, it will achieve integrated design of communication and perception functions, and have perception capabilities or provide perception services while transmitting information.

[0052] The benefits of synaesthesia integration include the following aspects:

[0053] Cost savings;

[0054] Reduce equipment size;

[0055] Reduce device power consumption;

[0056] Improve spectrum efficiency;

[0057] Reduce mutual interference between synaesthesia and improve system performance.

[0058] There is no clear definition of the scope of synaesthesia integration at present. In a broad sense, synaesthesia integration includes the following:

[0059] The same network provides communication services and perception services;

[0060] The same terminal provides communication services and perception services;

[0061] The same spectrum provides communication services and sensing services;

[0062] The integrated synaesthesia service is completed in the same radio transmission, that is, the joint design of communication signals and perception signals.

[0063] The schematic diagram of the integrated classification of waveforms for perception and communication is as follows Figure 3 shown.

[0064] The following describes in detail the sensing method, apparatus, and network device provided in the embodiments of the present application through some embodiments and their application scenarios in combination with the accompanying drawings.

[0065] like Figure 4 As shown, the embodiment of the present application provides a perception method, including:

[0066] Step 401: The first network device sends a sensing signal;

[0067] In step 402, the first network device detects an echo of the perception signal based on a measurement quantity of the perception signal, and obtains a measurement value corresponding to the measurement quantity.

[0068] It should be noted that the embodiments of the present application are mainly aimed at the base station sending the perception signal, and the base station receives the perception signal for detection to obtain the measurement value. That is to say, the first network device mentioned in the embodiments of the present application refers to the base station located on the access network side; the second network device mentioned in the embodiments of the present application can be the mobility and access management function (AMF) entity on the core network side; the second network device can also be a perception function entity, for example, it can be called a perception network function entity or a perception network element, and the perception function entity can be located on the core network side or on the access network side; the second network device can also be other functional entities on the core network side.

[0069] It should be noted that the first network device may determine the measurement amount of the perception signal in at least one of the following ways, including:

[0070] A11. Receive first indication information sent by a second network device, where the first indication information is used to indicate a measurement amount of the perception signal that the first network device needs to measure;

[0071] That is to say, in this case, the measurement quantity of the perception signal is sent to the base station by the AMF or the perception function entity.

[0072] A12. Determine a measurement quantity of the perception signal according to the first perception requirement.

[0073] That is to say, in this case, the measurement amount of the perception signal is determined by the first network device itself according to the first perception requirement; optionally, the first perception requirement can be sent to the terminal by the second network device; or it can be generated by the second network device.

[0074] It should also be noted that, in order to accurately send the perception signal, the first network device needs to determine the configuration information of the perception signal before sending the perception signal.

[0075] Specifically, the first network device determines the configuration information of the sensing signal, including at least one of the following:

[0076] B11. The first network device receives first configuration information of a sensing signal, where the first configuration information is sent by the second network device.

[0077] B12. The first network device determines second configuration information of the sensing signal based on the first information;

[0078] The first information includes at least one of the following:

[0079] B121, first perceived needs;

[0080] It should be noted that the first perception requirement is sent by the second network device to the first network device.

[0081] B122. First recommendation information of the configuration information, where the first recommendation information is determined by the second network device according to the first perception requirement.

[0082] It should be noted here that the configuration information of the perception signal can be only notified to the base station by the AMF. In this case, the first configuration information contains all the configurations of the perception signal; the configuration information of the perception signal can also be determined only by the base station itself. In this case, the second configuration information contains all the configurations of the perception signal; the configuration information of the perception signal can also be jointly determined by the base station and the AMF entity (or perception function entity), that is, each device only determines some parameters or some configuration information in the configuration information of the perception signal.

[0083] For example, the configuration information of the perception signal includes three configuration parameters A, B, and C. When the configuration information of the perception signal is only notified to the base station by the AMF entity or the perception function entity, the first configuration information includes the three configuration parameters A, B, and C of the perception signal; when the configuration information of the perception signal is only determined by the base station itself, the second configuration information includes the three configuration parameters A, B, and C of the perception signal; when the configuration information of the perception signal is jointly determined by the base station and the AMF, the first configuration information includes part of the three configuration parameters A, B, and C of the perception signal (for example, the first configuration information includes A), and the second configuration information includes another part of the three configuration parameters A, B, and C of the perception signal (for example, the first configuration information includes B and C).

[0084] It should be further noted that the second network device may determine the first configuration information of the sensing signal in the following manner:

[0085] determining first configuration information of the perception signal according to the third information;

[0086] The third information includes at least one of the following:

[0087] B21, first perceived needs;

[0088] B22. Sensing capability information sent by the first network device;

[0089] B23. Second recommendation information of the configuration information, where the second recommendation information is determined by the first network device according to the first perception requirement and sent to the second network device.

[0090] It should be further noted that the first perception requirement in the embodiment of the present application is associated with at least one of the following:

[0091] C11, perceived objects;

[0092] Optionally, the sensing object includes but is not limited to at least one of an object, a device, a person, an animal, a building, a car, an environment, air quality, humidity, temperature and a specific area (ie, a certain area).

[0093] C12, perceived quantity;

[0094] Optionally, the perception quantity includes but is not limited to: at least one of the position of the perception object, the distance of the perception object, the moving speed of the perception object, the imaging of the perception object, the motion trajectory of the perception object, and the texture analysis and material analysis of the perception object.

[0095] C13, perception indicators;

[0096] Optionally, the perception indicator includes but is not limited to: at least one of perception accuracy, perception error, perception range, perception delay, detection probability and false alarm probability;

[0097] Specifically, the perception accuracy includes: distance resolution, imaging resolution, moving speed resolution or angle resolution; the perception error includes: distance error, imaging error or moving speed error.

[0098] It should be noted that the combination of the perceived object and the perceived quantity is the perception result.

[0099] Optionally, the first perception requirement may also be associated with configuration information of the perception signal or a measurement quantity of the perception signal.

[0100] As shown in Table 2, the first perception requirement can be divided into several perception categories, each of which is associated with at least one of the configuration information of the perception signal and the measurement quantity of the perception signal. The association relationship can be agreed upon by a protocol or notified through signaling between different devices. If a device has a perception requirement, for example, the perception requirement requires another device (e.g., a terminal) to measure and feedback measurement quantities related to environment reconstruction, then the perception requirement is perception index 1. Optionally, the terminal device obtains perception index 1 based on signaling sent by other devices, and determines the configuration information of the perception signal and / or the measurement quantity of the perception signal based on perception index 1 and Table 2.

[0101] Table 2 Relationship between perception classification, perception signal configuration information and measurement quantity

[0102]

[0103] Optionally, in another embodiment of the present application, after the first network device obtains the measurement value corresponding to the measurement quantity, the method further includes any one of the following:

[0104] D11. Send the measurement quantity and the measurement value corresponding to the measurement quantity to a second network device;

[0105] Optionally, in this case, the second network device can determine the perception result based on the measurement quantity and the measurement value corresponding to the measurement quantity, and send the perception result to the terminal (corresponding to the case where the terminal initiates the perception service) or the third network device (corresponding to the case where other devices other than the terminal initiate the perception service). Specifically, the third network device can be other base stations, that is, base stations other than those that measure the perception signal, other network elements in the core network, such as application servers (this case corresponds to the case where a third-party application initiates the perception service), network management systems, etc.

[0106] Optionally, in this case, the second network device may send the measurement quantity and the measurement value corresponding to the measurement quantity to the terminal or the third network device, and the terminal or the third network device may convert the perception result by itself.

[0107] D12. Determine a perception result based on the measurement quantity and the measurement value corresponding to the measurement quantity, and send the perception result to the second network device;

[0108] Optionally, the measurement quantity and the measurement value corresponding to the measurement quantity are the perception result.

[0109] It should be noted that, in this case, after receiving the perception result, the second network device may send the perception result to the terminal or the third network device.

[0110] The following example uses the perspective of the sensing service initiator to illustrate the actions that the base station needs to perform after obtaining the measurement data:

[0111] In the case where a third-party application initiates a perception service, optionally, after obtaining the measurement value, the base station can send the measurement amount and the measurement value corresponding to the measurement amount to the perception function entity, the perception function entity determines the perception result based on the measurement value, and sends it to the application server, and the application server sends the perception result to the third-party application; optionally, after obtaining the measurement value, the base station can determine the perception result based on the measurement amount and the measurement value corresponding to the measurement amount and send the perception result to the perception function entity, the perception function entity sends the perception result to the application server, and the application server sends the perception result to the third-party application.

[0112] In the case where the AMF initiates the perception service, optionally, after obtaining the measurement value, the base station can send the measurement amount and the measurement value corresponding to the measurement amount to the AMF, and the AMF determines the perception result based on the measurement value; optionally, after obtaining the measurement value, the base station can determine the perception result based on the measurement amount and the measurement value corresponding to the measurement amount and send the perception result to the AMF.

[0113] In the case where the terminal initiates a perception service, optionally, after obtaining the measurement value, the base station can send the measurement amount and the measurement value corresponding to the measurement amount to the AMF, and the AMF determines the perception result based on the measurement value, and sends the perception result to the terminal through non-access layer (NAS) signaling; optionally, after obtaining the measurement value, the base station can determine the perception result based on the measurement amount and the measurement value corresponding to the measurement amount and send the perception result to the AMF, and the AMF sends the perception result to the terminal through NAS signaling.

[0114] It should also be noted that the perception result in the embodiment of the present application includes at least one of the following:

[0115] E11, characteristic information of the target object;

[0116] For example, the characteristic information may include the existence, distance, position, speed, acceleration, material, shape, category, radar cross-section RCS, polarization scattering characteristics, etc. of the target object;

[0117] E12, relevant information about the target event;

[0118] For example, the relevant information of the target event may include fall detection, intrusion detection, population counting, indoor positioning, gesture recognition, lip reading recognition, gait recognition, expression recognition, respiratory monitoring, heart rate monitoring, etc.

[0119] E13. Relevant information about the target environment;

[0120] For example, relevant information about the target environment may include humidity, brightness, temperature and humidity, atmospheric pressure, air quality, weather conditions, topography, building / vegetation distribution, headcount, crowd density, vehicle density, etc.

[0121] Optionally, the perception result of the embodiment of the present application may further include at least one of the following:

[0122] E101, the location of the target object;

[0123] E102, distance to target object;

[0124] E103, speed of the target object;

[0125] E104, detection results of target objects;

[0126] E105, tracking results of target objects;

[0127] E106, identification results of target objects;

[0128] E107, imaging results of the target object;

[0129] E108, Humidity of target environment;

[0130] E109, target environment temperature;

[0131] E110. Air quality of the target environment.

[0132] The perception function entity in the embodiment of the present application satisfies at least one of the following conditions:

[0133] F101. Manage the overall coordination and scheduling of resources required for sensing;

[0134] F102, calculate the perception results;

[0135] F103, estimated perception accuracy;

[0136] F104, verify the perception results;

[0137] F105, support immediate perception request;

[0138] F106, support delay-aware requests;

[0139] F107, support periodic or event-triggered sensing requests;

[0140] F108, support the cancellation of cyclical or triggered perceptual behaviors;

[0141] F109, corresponding to at least one AMF entity;

[0142] That is to say, multiple perception function entities can correspond to one AMF entity, or one perception function entity can be connected to multiple AMF entities.

[0143] F110. Determine a sensing mode based on the second information;

[0144] The second information includes: at least one of the type of the sensing client, the sensing quality of service (QoS), the sensing capability of the terminal, and the sensing capability of the first network device;

[0145] The sensing mode is associated with an entity that receives and sends the sensing signal. Specifically, the relationship between the entity corresponding to the sensing mode and the receiving and sending signal includes at least one of the following:

[0146] F1101: The first network node sends a perception signal, and the second network node receives the perception signal.

[0147] This situation refers to that base station A sends a sensing signal and base station B receives the sensing signal.

[0148] F1102. The first network node sends and receives a perception signal;

[0149] This situation refers to that base station A sends a perception signal and base station A receives the perception signal.

[0150] F1103. The first network node sends a perception signal, and the terminal device associated with the first network node receives the perception signal.

[0151] This situation refers to that base station A sends a perception signal and the terminal receives the perception signal.

[0152] F1104. The first terminal device sends a perception signal, and the second terminal device receives the perception signal.

[0153] This situation refers to the situation where terminal A sends a perception signal and terminal B receives the perception signal;

[0154] F1105. The first terminal device sends and receives a perception signal;

[0155] This situation refers to the case where terminal A sends a perception signal and terminal A receives the perception signal;

[0156] F1106. The first terminal device sends a perception signal, and the first network node receives the perception signal.

[0157] This situation refers to that terminal A sends a perception signal and base station A receives the perception signal.

[0158] It should also be noted that the perception function entity can be located on the core network side or the base station side. If the perception function entity is located on the base station side, all processes of the perception service are completed on the RAN (for the case where the base station triggers the perception service, or the UE triggers the perception service); the perception function entity can be a separate functional entity / physical entity, or deployed in a general server of the core network as one of the core network functions, or deployed on the base station side as one of the functions of the base station; the perception function entity directly interacts with the application server (such as the operator's application server) for perception requests and perception results; or, the perception function entity interacts with the AMF for perception requests and perception results, and the AMF can directly or indirectly (through GMLC and NEF) interact with the application server (such as a third-party application server) for perception requests and perception results.

[0159] It should be noted that the configuration information of the sensing signal in the embodiment of the present application includes at least one of the following parameters:

[0160] H101, waveform of the sensing signal;

[0161] For example, Orthogonal Frequency Division Multiplex (OFDM), Single-carrier Frequency-Division Multiple Access (SC-FDMA), Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signals, etc.

[0162] H102, subcarrier spacing of the perception signal;

[0163] For example, the subcarrier spacing of the OFDM system is 30KHz.

[0164] H103, a guard interval of the sensing signal;

[0165] It should be noted that the guard interval refers to the time interval from the moment the signal ends to the moment the latest echo signal of the signal is received; this parameter is proportional to the maximum perception distance; for example, it can be calculated by 2dmax / c, where dmax is the maximum perception distance (belongs to the perception requirement). For example, for a self-transmitted and self-received perception signal, dmax represents the maximum distance from the perception signal receiving and transmitting point to the signal transmitting point; in some cases, the OFDM signal cyclic prefix (CP) can serve as a minimum guard interval.

[0166] H104, bandwidth of the sensing signal;

[0167] It should be noted that this parameter is inversely proportional to the distance resolution and can be obtained by c / (2×delta_d), where delta_d is the distance resolution (which belongs to the perception requirement) and c is the speed of light.

[0168] H105, burst duration of the sensing signal;

[0169] It should be noted that the burst duration is inversely proportional to the rate resolution (a perception requirement), which is the time span of the perception signal and is mainly used to calculate the Doppler frequency offset. This parameter can be calculated as c / (2×delta_v×fc); where delta_v is the velocity resolution and fc is the carrier frequency of the perception signal.

[0170] H106, the time domain interval of the sensing signal;

[0171] It should be noted that the time domain interval can be calculated by c / (2×fc×v_range); wherein v_range is the maximum rate minus the minimum speed (belonging to the perception requirement); and this parameter is the time interval between two adjacent perception signals.

[0172] H107, the transmission signal power of the sensing signal;

[0173] For example, the value is taken every 2dBm from -20dBm to 23dBm.

[0174] H108, signal format of the perception signal;

[0175] For example, the signal format may be a sounding reference signal (SRS), a demodulation reference signal (DMRS), a positioning reference signal (PRS), or other predefined signals, as well as related sequence format information.

[0176] H109, ​​the signal direction of the sensing signal;

[0177] For example, the signal direction may be the direction of a sensing signal or beam information.

[0178] H110, the time resource of the perception signal;

[0179] For example, the time resource can be the time slot index where the perception signal is located or the symbol index of the time slot; among them, time resources are divided into two types, one is a one-time time resource, such as one symbol sending an omnidirectional first signal; the other is a non-one-time time resource, such as multiple groups of periodic time resources or discontinuous time resources (which may include start time and end time), each group of periodic time resources sends a perception signal in the same direction, and the beam directions on different groups of periodic time resources are different.

[0180] H111, frequency resources of the sensing signal;

[0181] Optionally, the frequency resource includes the center frequency point of the perception signal, bandwidth, RB or subcarrier, Point A, starting bandwidth position, etc.

[0182] H112, quasi-co-site QCL relationship of the sensing signal;

[0183] For example, the sensing signal includes multiple resources, each resource is associated with an SSB QCL, and the QCL includes Type A, B, C, or D.

[0184] It should be noted that the measurement quantity in the embodiment of the present application includes at least one of the following:

[0185] K11, first type of measurement;

[0186] Specifically, the first type of measurement includes at least one of the following:

[0187] K111, channel matrix H;

[0188] K112, received signal strength indication (RSSI);

[0189] K113, reference signal received power (RSRP);

[0190] K114, channel state information (CSI);

[0191] K115, the power of each path in the multipath channel;

[0192] K116, the delay of each path in a multipath channel;

[0193] K117, angle information of each path in the multipath channel;

[0194] K118, Doppler expansion;

[0195] K119, Doppler shift;

[0196] K120, a phase difference between a sensing signal received by the first antenna and a sensing signal received by the second antenna;

[0197] K121, a time delay difference between the sensing signal received by the first antenna and the sensing signal received by the second antenna;

[0198] K122, the characteristic differences between I-channel signals and Q-channel signals;

[0199] It should be noted that the characteristic difference may be a phase difference or other difference between the I-path signal and the Q-path signal.

[0200] It should be noted here that the I-path signal and the Q-path signal are respectively an in-phase signal and a quadrature signal, where I stands for in-phase and Q stands for quadrature, and the phase difference between the I-path signal and the Q-path signal is 90 degrees.

[0201] K12, second type of measurement;

[0202] Specifically, the second type of measurement includes at least one of the following:

[0203] K121, characteristic information of target object;

[0204] It should be noted that the characteristic information of the target object is information that can reflect the attributes or state of the target object, and can be at least one of the following: the existence of the target object, the distance of the target object, the position of the target object, the speed of the target object, the acceleration of the target object, the material of the target object, the shape of the target object, the category of the target object, the radar cross section (RCS) of the target object, the polarization scattering characteristics, etc.

[0205] K122, relevant information of the target event;

[0206] It should be noted that the relevant information of the target event is information related to the target event, that is, information that can be detected / perceived when the target event occurs, which can be at least one of the following: fall detection, intrusion detection, population statistics, indoor positioning, gesture recognition, lip reading recognition, gait recognition, expression recognition, respiratory monitoring, heart rate monitoring, etc.

[0207] K123. Relevant information about the target environment;

[0208] It should be noted that the relevant information of the target environment can be at least one of the following: humidity, brightness, temperature and humidity, atmospheric pressure, air quality, weather conditions, topography, building / vegetation distribution, headcount, crowd density, vehicle density, etc.

[0209] Optionally, the measurement quantity may further include at least one of the following:

[0210] K21. Location, material, shape and / or type of reflection points;

[0211] K22, radar spectrum information.

[0212] Optionally, the measurement amount is a measurement amount for each antenna or a measurement amount for each sensing resource.

[0213] For example, the measurement amount is a measurement amount of each antenna (port) of the transmitting end or the receiving end, or the measurement amount is a measurement amount on each sensing resource, such as a measurement amount of each resource block (RB), subcarrier or RB group.

[0214] It should be noted that when the core network sends perception-related information to the base station, the core network or the perception network function entity / perception network element determines which base station is associated based on the target area, and determines the direction in which the base station sends the perception signal.

[0215] The following are some examples of specific applications in actual applications.

[0216] Specific application scenario 1: Base station A sends and receives sensing signals on its own, and a third-party application initiates sensing services. The network devices involved in this scenario are as follows: Figure 5 As shown in the figure, the implementation process in this case is mainly as follows:

[0217] Step S101: The application server receives a sensing request from a third-party application;

[0218] For example, the perception requirement is to perceive a three-dimensional map of the target area (the accuracy / resolution of the map is 5m). The target area can be a designated area, such as the area around a building, or the area around the target UE. The perception requirement can include information about the target area, such as the longitude and latitude (range) of the area.

[0219] Step S102: The application server (including an in-network server such as an IMS or an out-of-network server) sends the sensing requirement to the core network (such as an AMF) or the core network's sensing network function entity / sensing network element (if any);

[0220] Alternatively, the application server sends the perception requirement to the AMF, and the AMF forwards the requirement to the perception network function entity / perception network element;

[0221] It should be noted here that the perception network function entity / perception network element of the core network interacts with the target UE or the serving base station of the target UE for target information (target information includes processing perception requests, interactive perception capabilities, interactive perception auxiliary data, interactive perception measurement amounts or perception results) to obtain target perception results or perception measurement amounts (uplink measurement amounts or downlink measurement amounts); it can also interact with other network elements / functions in the core network based on the target area to obtain base station information that may require interaction information.

[0222] It should also be noted that if the AMF forwards the demand to the perception network function entity / perception network element, and multiple perception network function entities / perception network elements can correspond to one AMF, there is a problem of selecting the perception network function entity / perception network element (selected by the AMF):

[0223] The factors considered by AMF when selecting the perception network function entity / perception network element include at least one of the following: requested QoS (such as perception accuracy, response time, perception QoS level), access type (3GPP access / non-3GPP access), AN type of the target UE (i.e. 5G NR or eLTE) and serving AN node (i.e. gNodeB or NG-eNodeB), RAN configuration information, perception network function entity / perception network element capabilities, perception network function entity / perception network element load, perception network function entity / perception network element location, indication of single event reporting or multiple event reporting, event reporting duration, network slice information, etc.

[0224] Step S103: The core network (or perception network function entity / perception network element) sends the configuration information of the perception requirement or perception signal to base station A.

[0225] It should also be noted that the configuration information of the perception signal can also be associated with the perception requirement. It only needs to notify the perception requirement, and the receiving end determines the configuration information of the perception signal according to the perception requirement and the association relationship;

[0226] Optionally, the step of determining the configuration information of the perception signal according to the perception requirement (for example, determining the bandwidth of the perception signal according to the perception resolution requirement) can be completed in several ways;

[0227] Y11. Base station A reports its sensing capabilities (capabilities related to sending sensing signals, such as the maximum bandwidth for sending sensing signals and the maximum transmit power of sensing signals) to the core network, and / or base station B reports its sensing capabilities (capabilities related to receiving sensing signals, such as the maximum bandwidth for receiving sensing signals and supported sensing signal measurements) to the core network (AMF or sensing network function entity / sensing network element). The core network then determines the configuration information of the sensing signals based on the sensing requirements.

[0228] Y12. The base station determines the configuration information of the sensing signal according to the sensing requirements;

[0229] Y13. The core network determines configuration information for a portion of the sensing signals, and the base station determines configuration information for another portion of the sensing signals.

[0230] Y14. The core network recommends the configuration information of the sensing signal to the base station based on the sensing requirements, and the base station ultimately determines the configuration information of the sensing signal;

[0231] Y15. The base station recommends the configuration information of the sensing signal to the core network based on the sensing requirements, and the core network ultimately determines the configuration information of the sensing signal;

[0232] It should be noted here that the method for determining base station A is: the core network or the perception network functional entity / perception network element determines that the associated base station is base station A according to the target area, and determines the direction in which base station A sends the perception signal.

[0233] Step S104: The core network (or perception network function entity / perception network element) sends the measurement quantities related to the perception signal (such as AOA, AOD, delay, RSRP, radar spectrum information, etc.) to base station A (receiving base station); or,

[0234] The measurement amount is determined by base station A based on the sensing requirements and does not require separate signaling (mapping table from sensing requirements to measurement amounts)

[0235] Step S105: Base station A sends a sensing signal;

[0236] It should be noted that base station A sends the sensing signal in a beam sweeping manner.

[0237] Step S106: Base station A receives the sensing signal.

[0238] After receiving the sensing signal, the UE obtains a measurement value of the corresponding measurement quantity and can choose one of the following processing methods for the measurement value:

[0239] Processing method 1: Conversion of measurement value to perception result is completed in the core network or application server. In step S107, base station A sends the measurement value to the core network (or perception network function entity / perception network element);

[0240] Step S108: The core network (or the perception network function entity / perception network element) sends the measurement value to the application server, and the application server determines the perception result according to the measurement value; or

[0241] The core network (or perception network functional entity / perception network element) determines the perception result based on the measurement quantity and sends the perception result to the application server;

[0242] Step S109: The application server sends the sensing result to the third-party application.

[0243] Processing method 2: The conversion of measurement quantity to perception result is completed at the base station

[0244] Step S107: Base station A determines a perception result based on the measurement value, and sends the measurement result to the core network (or perception network function entity / perception network element);

[0245] Step S108: The core network (or the perception network function entity / perception network element) sends the perception result to the application server;

[0246] Step S109: The application server sends the sensing result to the third-party application.

[0247] It should also be noted that relevant information of base station A, such as antenna position, synchronization information (SFN start time), AI related information, etc., also needs to be sent to the node that completes the above conversion to assist in completing the conversion process.

[0248] It should also be noted that the billing function is completed in the core network or application server.

[0249] It should also be noted that the perception signal in the above process can be sent by multiple base stations, and the perception signal can also be received by multiple base stations; correspondingly, the base station A in the above process can be TRP A.

[0250] Specific application scenario 2: Base station A sends and receives sensing signals on its own, and the core network (or network management system, or base station) initiates the sensing service

[0251] The implementation process in this case is mainly as follows:

[0252] Step S201: The core network AMF sends the configuration information of the sensing requirement or sensing signal to the sensing network function entity / sensing network element (e.g., the requirement of the network management).

[0253] For example, the sensing requirement is to sense a three-dimensional map of a target area (with a map accuracy / resolution of 5 meters). The target area can be a specified area, such as the area around a building, or the area around the target UE. The sensing requirement can include information about the target area, such as the longitude and latitude (range) of the area.

[0254] Or the AMF receives the configuration information of the perception requirements or perception signals sent by the network management system and forwards it to the perception network function entity / perception network element;

[0255] Or the AMF receives the configuration information of the sensing demand or sensing signal sent by the base station and forwards it to the sensing network function entity / sensing network element (Note: the configuration information of the sensing demand or sensing signal of base station A may not be sent to the core network, but may be sent directly to base station B);

[0256] Step S202: The sensing network function entity / sensing network element (features are the same as those described in Example 1) sends the configuration information of the sensing demand or sensing signal to base station A (or, the AMF sends the configuration information of the sensing demand or sensing signal to base station A).

[0257] It should also be noted that the configuration information of the perception signal can also be associated with the perception requirement. It only needs to notify the perception requirement, and the receiving end determines the configuration information of the perception signal according to the perception requirement and the association relationship;

[0258] Optionally, the main implementation method of determining the configuration information of the perception signal according to the perception requirements (for example, determining the bandwidth size of the perception signal according to the perception resolution requirements, etc.) is described above and will not be repeated here.

[0259] Step S203: The core network (or the perception network function entity / perception network element) sends the measurement quantities related to the perception signal (such as AOA, AOD, delay, RSRP, radar spectrum information, etc.) to base station A (receiving base station); or,

[0260] The measurement amount is determined by base station A according to the sensing requirement, and no separate signaling indication is required (mapping table from sensing requirement to measurement amount).

[0261] Step S204: Base station A sends a sensing signal;

[0262] It should be noted that base station A sends the sensing signal in a beam sweeping manner.

[0263] Step S205: Base station A receives the sensing signal.

[0264] After receiving the sensing signal, the UE obtains a measurement value of the corresponding measurement quantity and can choose one of the following processing methods for the measurement value:

[0265] Processing method 1: The conversion of measurement quantity to perception result is completed in the core network

[0266] Step S206: Base station A sends the measurement value to the core network (AMF or perception network function entity / perception network element);

[0267] Step S207: The core network (AMF or perception network function entity / perception network element) converts the measurement value into a perception result.

[0268] If the core network's perception requirements come from the network management system, the core network sends the perception results to the network management system; or the core network sends the measurement data to the network management system, and the network management system converts the measurement data into perception results;

[0269] If the core network's perception requirement comes from the base station, the core network sends the perception result to the base station.

[0270] Processing method 2: The conversion of measurement quantity to perception result is completed at the base station

[0271] Step S206: Base station A determines a perception result based on the measurement value and sends the measurement result to the core network (AMF or perception network function entity / perception network element);

[0272] If the core network's perception requirements come from the network management system, the core network sends the perception results to the network management system;

[0273] If the core network's perception requirements come from the base station, the core network sends the perception results to the base station.

[0274] It should be noted here that if the perception network function entity / perception network element is deployed in the base station, an optional solution is that the entire perception service can not go through the core network.

[0275] It should also be noted that the perception signal in the above process can be sent by multiple base stations, and the perception signal can also be received by multiple base stations; correspondingly, the base station A in the above process can be TRP A.

[0276] Specific application scenario 3: Base station A sends and receives sensing signals, and the UE initiates sensing services

[0277] The implementation process in this case is mainly as follows:

[0278] Step S301, the UE sends the configuration information of the perception requirement or perception signal to the AMF through NAS signaling; for example, the perception requirement is a three-dimensional map of the perception target area (the accuracy / resolution of the map is 5m). The target area can be a specified area, such as the surrounding area of ​​a building, or the surrounding area of ​​the target UE. The perception requirement may include information about the target area, such as the longitude and latitude (range) of the area.

[0279] Step S302: The AMF sends the configuration information of the sensing requirement or sensing signal to the sensing network function entity / sensing network element.

[0280] Step S303: The sensing network function entity / sensing network element (the characteristics of the sensing network function entity / sensing network element are the same as those described in the specific application scenario 1) sends the configuration information of the sensing demand or sensing signal to base station A (or the AMF sends the configuration information of the sensing demand or sensing signal to base station A);

[0281] It should also be noted that the configuration information of the perception signal can also be associated with the perception demand. It only needs to notify the perception demand, and the receiving end determines the configuration information of the perception signal according to the perception demand and the association relationship.

[0282] Optionally, determining the configuration information of the perception signal according to the perception requirement (for example, determining the bandwidth of the perception signal according to the perception resolution requirement) mainly includes at least one of the following methods:

[0283] Y21. Base station A reports its sensing capabilities (capabilities related to sending sensing signals, such as the maximum bandwidth for sending sensing signals and the maximum transmit power of sensing signals) to the core network (AMF or sensing network function entity / sensing network element), and / or base station A reports its sensing capabilities (capabilities related to receiving sensing signals, such as the maximum bandwidth for receiving sensing signals and supported sensing signal measurements) to the core network. The core network then determines the configuration information of the sensing signals based on the sensing requirements.

[0284] Y22. The base station determines the configuration information of the sensing signal according to the sensing requirements;

[0285] Y23. The core network determines configuration information of a portion of the sensing signals, and the base station determines configuration information of another portion of the sensing signals;

[0286] Y24. The core network recommends the configuration information of the sensing signal to the base station based on the sensing requirements, and the base station ultimately determines the configuration information of the sensing signal;

[0287] Y25. The base station recommends the configuration information of the sensing signal to the core network based on the sensing requirements, and the core network ultimately determines the configuration information of the sensing signal;

[0288] Y26. The UE recommends the configuration information of the sensing signal to the base station based on the sensing requirements, and the base station ultimately determines the configuration information of the sensing signal;

[0289] Y27. The UE recommends the configuration information of the sensing signal to the core network based on the sensing requirements, and the core network ultimately determines the configuration information of the sensing signal.

[0290] Y28. The UE determines the configuration information of the perception signal according to the perception requirements.

[0291] Step S304: The core network (or the perception network function entity / perception network element) sends the measurement quantities related to the perception signal (such as AOA, AOD, delay, RSRP, radar spectrum information, etc.) to base station A (receiving base station); or,

[0292] The measurement amount is determined by base station A according to the sensing requirement, and no separate signaling indication is required (mapping table from sensing requirement to measurement amount).

[0293] Step S305: Base station A sends a sensing signal;

[0294] It should be noted that base station A sends the sensing signal in a beam sweeping manner.

[0295] Step S306: Base station A receives the sensing signal.

[0296] After receiving the sensing signal, the UE obtains a measurement value of the corresponding measurement quantity and can choose one of the following processing methods for the measurement value:

[0297] Processing method 1: The conversion of measurement quantity to perception result is completed in the core network

[0298] Step S307: Base station A sends the measurement value to the core network (AMF or perception network function entity / perception network element);

[0299] Step S308: The core network (AMF or perception network function entity / perception network element) determines a perception result based on the measurement value.

[0300] Step S309: The core network (AMF or perception network function entity / perception network element) sends the perception result to the UE (through NAS signaling).

[0301] Processing method 2: The conversion of measurement quantity to perception result is completed at base station A

[0302] Step S307: Base station A determines a perception result based on the measurement value and sends the measurement result to the core network (AMF or perception network function entity / perception network element);

[0303] Step S308: The core network (AMF or perception network function entity / perception network element) sends the perception result to the UE (through NAS signaling).

[0304] Processing method 3: Conversion of measurement quantity to perception result in UE

[0305] Step S307: Base station A sends the measurement data to the core network (or perception network function entity / perception network element);

[0306] Step S308: The core network (AMF or perception network function entity / perception network element) sends the measurement value to the UE (via NAS signaling).

[0307] Step S309: The UE determines a perception result according to the measurement value.

[0308] It should also be noted that the perception signal in the above process can be sent by multiple base stations, and the perception signal can also be received by multiple base stations; correspondingly, the base station A in the above process can be TRP A.

[0309] It should be noted that the embodiments of the present application provide wireless perception-related processes based on base station sending perception signals, specifically including: the perception process of the base station spontaneously sending and receiving perception signals, signaling interaction between different perception nodes, etc., and newly added functions of the perception network functional entity / perception network element, thereby improving the network communication process and ensuring the smooth progress of perception.

[0310] It should be noted that the sensing method provided in the embodiment of the present application can be executed by a sensing device, or a control module in the sensing device for executing the sensing method. In the embodiment of the present application, the sensing device provided in the embodiment of the present application is described by taking the sensing device executing the sensing method as an example.

[0311] like Figure 6 As shown, the embodiment of the present application provides a sensing device 600, including:

[0312] A first sending module 601 is configured to send a perception signal;

[0313] The first acquisition module 602 is configured to detect the echo of the perception signal based on the measurement quantity of the perception signal, and obtain a measurement value corresponding to the measurement quantity.

[0314] Optionally, before the first acquiring module 602 detects the echo of the perception signal based on the measurement quantity of the perception signal and acquires a measurement value corresponding to the measurement quantity, further includes the following:

[0315] A first receiving module is configured to receive first indication information sent by a second network device, where the first indication information is used to indicate a measurement amount of the perception signal that the first network device needs to measure;

[0316] The first determining module is configured to determine a measurement value of the perception signal according to a first perception requirement.

[0317] Optionally, before the first sending module 601 sends the perception signal, the method further includes:

[0318] The second determining module is used to determine the configuration information of the perception signal.

[0319] Optionally, the second determining module is configured to implement at least one of the following:

[0320] The first network device receives first configuration information of the sensing signal, where the first configuration information is sent by the second network device;

[0321] The first network device determines second configuration information of the sensing signal according to the first information;

[0322] The first information includes at least one of the following:

[0323] First perceived need;

[0324] The first recommendation information of the configuration information is determined by the second network device according to the first perception requirement.

[0325] Optionally, the first perception requirement is sent by the second network device to the first network device.

[0326] Optionally, the first perceived need is associated with at least one of the following:

[0327] Perceived objects;

[0328] Perceived quantity;

[0329] Perception indicators.

[0330] Optionally, after the first acquisition module 602 detects the echo of the perception signal based on the measurement quantity of the perception signal and obtains a measurement value corresponding to the measurement quantity, the method further includes:

[0331] A first execution module, configured to send the measurement quantity and a measurement value corresponding to the measurement quantity to a second network device;

[0332] The second execution module determines a perception result according to the measurement quantity and a measurement value corresponding to the measurement quantity and sends the perception result to the second network device.

[0333] Optionally, the perception result includes at least one of the following:

[0334] Feature information of the target object;

[0335] Relevant information about the target event;

[0336] Information about the target environment.

[0337] Optionally, the second network device includes: a mobility and access management function AMF entity or a perception function entity;

[0338] The sensing function entity satisfies at least one of the following conditions:

[0339] Manage the overall coordination and scheduling of resources required for sensing;

[0340] Calculate perception results;

[0341] Estimating perceptual accuracy;

[0342] Verify perception results;

[0343] Supports immediate perception requests;

[0344] Support for latency-aware requests;

[0345] Support periodic or event-triggered sensing requests;

[0346] Support for undoing cyclical or triggering perceived behaviors;

[0347] determining a perception mode based on the second information;

[0348] The second information includes: at least one of the type of the sensing client, the sensing quality of service QoS, the sensing capability of the terminal, and the sensing capability of the first network device;

[0349] The sensing mode is associated with the entities that receive and send the sensing signals.

[0350] Optionally, the configuration information of the perception signal includes at least one of the following parameters:

[0351] the waveform of the sensing signal;

[0352] subcarrier spacing of the perception signal;

[0353] a guard interval of the sensing signal;

[0354] the bandwidth of the sensing signal;

[0355] The burst duration of the sensing signal;

[0356] a time domain interval of the sensing signal;

[0357] the transmission signal power of the sensing signal;

[0358] a signal format of the perception signal;

[0359] a signal direction of the sensing signal;

[0360] The time resource of the sensing signal;

[0361] frequency resource of the sensing signal;

[0362] The quasi-co-site QCL relationship of the sensing signal.

[0363] Optionally, the measurement quantity includes at least one of the following:

[0364] The first type of measurement quantity;

[0365] The second type of measurement quantity;

[0366] The first type of measurement includes at least one of the following:

[0367] Channel matrix H;

[0368] Received signal strength indication RSSI;

[0369] Reference signal received power RSRP;

[0370] Channel state information CSI;

[0371] The power of each path in a multipath channel;

[0372] The delay of each path in a multipath channel;

[0373] Angle information of each path in a multipath channel;

[0374] Doppler spread;

[0375] Doppler shift;

[0376] a phase difference between a sensing signal received by the first antenna and a sensing signal received by the second antenna;

[0377] a time delay difference between the sensing signal received by the first antenna and the sensing signal received by the second antenna;

[0378] The characteristic difference between the I-path signal and the Q-path signal;

[0379] The second type of measurement includes at least one of the following:

[0380] Feature information of the target object;

[0381] Relevant information about the target event;

[0382] Information about the target environment.

[0383] Optionally, the measurement amount is a measurement amount for each antenna or a measurement amount for each sensing resource.

[0384] It should be noted that the device embodiment is a device corresponding to the above method. All implementation methods in the above method embodiment are applicable to the device embodiment and can achieve the same technical effects, which will not be repeated here.

[0385] The sensing device provided in the embodiment of the present application can achieve Figure 4The various processes implemented by the method embodiment achieve the same technical effect and are not described here again to avoid repetition.

[0386] Preferably, an embodiment of the present application also provides a network device, which is a first network device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the various processes of the perception method embodiment applied to the first network device side are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0387] An embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by the processor, the various processes of the perception method embodiment applied to the first network device side are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0388] The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0389] An embodiment of the present application also provides a network device, which is a first network device, including a processor and a communication interface, the communication interface being used to send a perception signal; the processor being used to detect an echo of the perception signal based on a measurement quantity of the perception signal, and obtain a measurement value corresponding to the measurement quantity.

[0390] This network device embodiment corresponds to the above-mentioned network device method embodiment. Each implementation process and implementation method of the above-mentioned method embodiment can be applied to this network device embodiment and can achieve the same technical effect.

[0391] Specifically, the embodiment of the present application further provides a network device, which is a first network device. Figure 7 As shown, network device 700 includes an antenna 701, a radio frequency device 702, and a baseband device 703. Antenna 701 is connected to radio frequency device 702. In the uplink direction, radio frequency device 702 receives information via antenna 701 and sends the received information to baseband device 703 for processing. In the downlink direction, baseband device 703 processes the information to be transmitted and sends it to radio frequency device 702. Radio frequency device 702 processes the received information and then sends it through antenna 701.

[0392] The frequency band processing device may be located in the baseband device 703 . The method performed by the network device in the above embodiment may be implemented in the baseband device 703 . The baseband device 703 includes a processor 704 and a memory 705 .

[0393] The baseband device 703 may include, for example, at least one baseband board on which a plurality of chips are arranged, such as Figure 7 As shown, one of the chips is, for example, a processor 704, which is connected to a memory 705 to call a program in the memory 705 and execute the network device operations shown in the above method embodiment.

[0394] The baseband device 703 may further include a network interface 706 for exchanging information with the radio frequency device 702 . The interface may be, for example, a common public radio interface (CPRI).

[0395] Specifically, the network device of the embodiment of the present invention further includes: instructions or programs stored in the memory 705 and executable on the processor 704, and the processor 704 calls the instructions or programs in the memory 705 to execute. Figure 6 The methods executed by the modules shown achieve the same technical effects, so they will not be described here to avoid repetition.

[0396] like Figure 8 As shown, the embodiment of the present application also provides a perception method, including:

[0397] Step 801: The second network device sends at least one of the first sensing requirement and the configuration information of the sensing signal to the first network device.

[0398] Optionally, the method further includes:

[0399] The second network device sends first indication information to the first network device;

[0400] The first indication information is used to indicate the measurement amount of the perception signal that the first network device needs to measure.

[0401] Optionally, the configuration information of the perception signal includes: first configuration information of the perception signal;

[0402] The first configuration information of the sensing signal is determined by:

[0403] determining first configuration information of the perception signal according to the third information;

[0404] The third information includes at least one of the following:

[0405] First perceived need;

[0406] Sensing capability information sent by the first network device;

[0407] Second recommendation information of the configuration information, where the second recommendation information is determined by the first network device according to the first perception requirement and sent to the second network device.

[0408] Optionally, the method for acquiring the first perception requirement includes one of the following:

[0409] A first perception requirement is received from a terminal, a first network device, or a third network device.

[0410] Optionally, the first perceived need is associated with at least one of the following:

[0411] Perceived objects;

[0412] Perceived quantity;

[0413] Perception indicators.

[0414] Optionally, after the second network device sends the first perception information to the first network device, the method further includes:

[0415] receiving a measurement quantity of a perception signal sent by a first network device and a measurement value corresponding to the measurement quantity;

[0416] Receive a perception result sent by the first network device, where the perception result is obtained by the first network device based on a measurement quantity of a perception signal and a measurement value corresponding to the measurement quantity.

[0417] Optionally, after receiving the measurement quantity of the perception signal sent by the first network device and a measurement value corresponding to the measurement quantity, at least one of the following items is further included:

[0418] Obtaining a perception result according to the measurement quantity and a measurement value corresponding to the measurement quantity;

[0419] The measurement quantity and the measurement value corresponding to the measurement quantity are sent to the terminal or the third network device.

[0420] Optionally, after obtaining a perception result according to the measurement quantity and a measurement value corresponding to the measurement quantity, the method further includes:

[0421] The perception result is sent to the terminal or a third network device.

[0422] Optionally, after receiving the perception result sent by the first network device, the method further includes:

[0423] The perception result is sent to the terminal or a third network device.

[0424] Optionally, the perception result includes at least one of the following:

[0425] Feature information of the target object;

[0426] Relevant information about the target event;

[0427] Information about the target environment.

[0428] Optionally, the measurement quantity includes at least one of the following:

[0429] The first type of measurement quantity;

[0430] The second type of measurement quantity;

[0431] The first type of measurement includes at least one of the following:

[0432] Channel matrix H;

[0433] Received signal strength indication RSSI;

[0434] Reference signal received power RSRP;

[0435] Channel state information CSI;

[0436] The power of each path in a multipath channel;

[0437] The delay of each path in a multipath channel;

[0438] Angle information of each path in a multipath channel;

[0439] Doppler spread;

[0440] Doppler shift;

[0441] a phase difference between a sensing signal received by the first antenna and a sensing signal received by the second antenna;

[0442] a time delay difference between the sensing signal received by the first antenna and the sensing signal received by the second antenna;

[0443] The characteristic difference between the I-path signal and the Q-path signal;

[0444] The second type of measurement includes at least one of the following:

[0445] Feature information of the target object;

[0446] Relevant information about the target event;

[0447] Information about the target environment.

[0448] Optionally, the measurement amount is a measurement amount for each antenna or a measurement amount for each sensing resource.

[0449] Optionally, the configuration information of the perception signal includes at least one of the following parameters:

[0450] the waveform of the sensing signal;

[0451] subcarrier spacing of the perception signal;

[0452] a guard interval of the sensing signal;

[0453] the bandwidth of the sensing signal;

[0454] The burst duration of the sensing signal;

[0455] a time domain interval of the sensing signal;

[0456] the transmission signal power of the sensing signal;

[0457] a signal format of the perception signal;

[0458] a signal direction of the sensing signal;

[0459] The time resource of the sensing signal;

[0460] frequency resource of the sensing signal;

[0461] The quasi-co-site QCL relationship of the sensing signal.

[0462] Optionally, the second network device includes: a mobility and access management function AMF entity or a perception function entity;

[0463] The sensing function entity satisfies at least one of the following conditions:

[0464] Manage the overall coordination and scheduling of resources required for sensing;

[0465] Calculate perception results;

[0466] Estimating perceptual accuracy;

[0467] Verify perception results;

[0468] Supports immediate perception requests;

[0469] Support for latency-aware requests;

[0470] Support periodic or event-triggered sensing requests;

[0471] Support for undoing cyclical or triggering perceived behaviors;

[0472] Corresponding to at least one AMF entity;

[0473] determining a perception mode based on the second information;

[0474] The second information includes: at least one of the type of the sensing client, the sensing quality of service QoS, the sensing capability of the terminal, and the sensing capability of the first network device;

[0475] The sensing mode is associated with the entities that receive and send the sensing signals.

[0476] It should be noted that all descriptions about the second network device in the above embodiments are applicable to the embodiments of the perception method and can achieve the same technical effects, and will not be repeated here.

[0477] like Figure 9 As shown, the embodiment of the present application further provides a sensing device 900, which is applied to a second network device, including:

[0478] The second sending module 901 is used to send at least one of the configuration information of the first perception requirement and the perception signal to the first network device.

[0479] Optionally, the device further includes:

[0480] A third sending module, configured to send first indication information to the first network device;

[0481] The first indication information is used to indicate the measurement amount of the perception signal that the first network device needs to measure.

[0482] Optionally, the configuration information of the perception signal includes: first configuration information of the perception signal;

[0483] The first configuration information of the sensing signal is determined by:

[0484] determining first configuration information of the perception signal according to the third information;

[0485] The third information includes at least one of the following:

[0486] First perceived need;

[0487] Sensing capability information sent by the first network device;

[0488] Second recommendation information of the configuration information, where the second recommendation information is determined by the first network device according to the first perception requirement and sent to the second network device.

[0489] Optionally, the device further includes:

[0490] The first receiving module is used to receive a first perception requirement from a terminal, a first network device or a third network device.

[0491] Optionally, the first perceived need is associated with at least one of the following:

[0492] Perceived objects;

[0493] Perceived quantity;

[0494] Perception indicators.

[0495] Optionally, after the second sending module 901 sends at least one of the first sensing requirement and the configuration information of the sensing signal to the first network device, the method further includes:

[0496] A second receiving module is configured to receive a measurement quantity of the perception signal sent by the first network device and a measurement value corresponding to the measurement quantity;

[0497] The third receiving module is used to receive the perception result sent by the first network device, where the perception result is obtained by the first network device based on the measurement quantity of the perception signal and the measurement value corresponding to the measurement quantity.

[0498] Optionally, after the second receiving module receives the measurement quantity of the perception signal sent by the first network device and the measurement value corresponding to the measurement quantity, the method further includes at least one of the following:

[0499] A second acquisition module is used to obtain a perception result according to the measurement quantity and the measurement value corresponding to the measurement quantity;

[0500] The fourth sending module is configured to send the measurement quantity and a measurement value corresponding to the measurement quantity to a terminal or a third network device.

[0501] Optionally, after the second acquisition module acquires the perception result according to the measurement quantity and the measurement value corresponding to the measurement quantity, the method further includes:

[0502] The fifth sending module is used to send the perception result to the terminal or the third network device.

[0503] Optionally, after the third receiving module receives the perception result sent by the first network device, the method further includes:

[0504] The sixth sending module is used to send the perception result to the terminal or the third network device.

[0505] Optionally, the perception result includes at least one of the following:

[0506] Feature information of the target object;

[0507] Relevant information about the target event;

[0508] Information about the target environment.

[0509] Optionally, the measurement quantity includes at least one of the following:

[0510] The first type of measurement quantity;

[0511] The second type of measurement quantity;

[0512] The first type of measurement includes at least one of the following:

[0513] Channel matrix H;

[0514] Received signal strength indication RSSI;

[0515] Reference signal received power RSRP;

[0516] Channel state information CSI;

[0517] The power of each path in a multipath channel;

[0518] The delay of each path in a multipath channel;

[0519] Angle information of each path in a multipath channel;

[0520] Doppler spread;

[0521] Doppler shift;

[0522] a phase difference between a sensing signal received by the first antenna and a sensing signal received by the second antenna;

[0523] a time delay difference between the sensing signal received by the first antenna and the sensing signal received by the second antenna;

[0524] The characteristic difference between the I-path signal and the Q-path signal;

[0525] The second type of measurement includes at least one of the following:

[0526] Feature information of the target object;

[0527] Relevant information about the target event;

[0528] Information about the target environment.

[0529] Optionally, the measurement amount is a measurement amount for each antenna or a measurement amount for each sensing resource.

[0530] Optionally, the configuration information of the perception signal includes at least one of the following parameters:

[0531] the waveform of the sensing signal;

[0532] subcarrier spacing of the perception signal;

[0533] a guard interval of the sensing signal;

[0534] the bandwidth of the sensing signal;

[0535] The burst duration of the sensing signal;

[0536] a time domain interval of the sensing signal;

[0537] the transmission signal power of the sensing signal;

[0538] a signal format of the perception signal;

[0539] a signal direction of the sensing signal;

[0540] The time resource of the sensing signal;

[0541] frequency resource of the sensing signal;

[0542] The quasi-co-site QCL relationship of the sensing signal.

[0543] Optionally, the second network device includes: a mobility and access management function AMF entity or a perception function entity;

[0544] The sensing function entity satisfies at least one of the following conditions:

[0545] Manage the overall coordination and scheduling of resources required for sensing;

[0546] Calculate perception results;

[0547] Estimating perceptual accuracy;

[0548] Verify perception results;

[0549] Supports immediate perception requests;

[0550] Support for latency-aware requests;

[0551] Support periodic or event-triggered sensing requests;

[0552] Support for undoing cyclical or triggering perceived behaviors;

[0553] Corresponding to at least one AMF entity;

[0554] determining a perception mode based on the second information;

[0555] The second information includes: at least one of the type of the sensing client, the sensing quality of service QoS, the sensing capability of the terminal, and the sensing capability of the first network device;

[0556] The sensing mode is associated with the entities that receive and send the sensing signals.

[0557] Preferably, an embodiment of the present application also provides a network device, which is a second network device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the various processes of the perception method embodiment applied to the second network device side are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0558] An embodiment of the present application also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the perception method embodiment applied to the second network device side are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0559] The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0560] An embodiment of the present application also provides a network device, which is a second network device, including a processor and a communication interface, and the communication interface is used to send at least one of the configuration information of the first perception requirement and the perception signal to the first network device.

[0561] This network device embodiment corresponds to the above-mentioned network device method embodiment. Each implementation process and implementation method of the above-mentioned method embodiment can be applied to this network device embodiment and can achieve the same technical effect.

[0562] Specifically, the embodiment of the present application further provides a network device, which is a second network device. Specifically, the structure of the second network device can be seen in Figure 7 The structure of the network device will not be described in detail here.

[0563] Specifically, the processor calls the instructions or programs in the memory to execute Figure 9 The methods executed by the modules shown achieve the same technical effects, so they will not be described here to avoid repetition.

[0564] Optional, such as Figure 10As shown, an embodiment of the present application further provides a communication device 1000, including a processor 1001, a memory 1002, and a program or instruction stored in the memory 1002 and executable on the processor 1001. For example, when the communication device 1000 is a first network device, the program or instruction is executed by the processor 1001 to implement the various processes of the above-mentioned perception method embodiment and achieve the same technical effect. When the communication device 1000 is a second network device, the program or instruction is executed by the processor 1001 to implement the various processes of the above-mentioned perception method embodiment and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0565] The terminal involved in the embodiments of the present application may be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called a user equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device. For example, it may be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges language and / or data with a radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, or a user device, but is not limited in the embodiments of the present application.

[0566] The first network device involved in the embodiment of the present application can be a base station (Base Transceiver Station, BTS) in Global System of Mobile communication (GSM) or Code Division Multiple Access (CDMA), or a base station (NodeB, NB) in Wideband Code Division Multiple Access (WCDMA), or an evolved base station (Evolutional Node B, eNB or eNodeB) in LTE, or a relay station or access point, or a base station in a future 5G network, etc., and is not limited here.

[0567] The first network device and the terminal can each use one or more antennas for multiple-input multiple-output (MIMO) transmission. MIMO transmission can be single-user MIMO (SU-MIMO) or multi-user MIMO (MU-MIMO). Depending on the form and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, and can also be diversity transmission, precoded transmission, or beamforming transmission.

[0568] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned perception method embodiment and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0569] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0570] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0571] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0572] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A perception method, characterized in that: include: The first network device sends a perception signal; The first network device detects an echo of the perception signal based on a measurement quantity of the perception signal, and obtains a measurement value corresponding to the measurement quantity; The detecting of the echo of the perception signal based on the measurement quantity of the perception signal and obtaining the measurement value corresponding to the measurement quantity further includes the following: receiving first indication information sent by a second network device, where the first indication information is used to indicate a measurement amount of the perception signal that the first network device needs to measure; determining a measurement quantity of the perception signal according to the first perception requirement; The measurement quantity includes at least one of the following: The first type of measurement quantity; The second type of measurement quantity; The first type of measurement includes at least one of the following: Channel matrix H; Received signal strength indication RSSI; Reference signal received power RSRP; Channel state information CSI; The power of each path in a multipath channel; The delay of each path in a multipath channel; Angle information of each path in a multipath channel; Doppler spread; Doppler shift; a phase difference between a sensing signal received by the first antenna and a sensing signal received by the second antenna; a time delay difference between the sensing signal received by the first antenna and the sensing signal received by the second antenna; The characteristic difference between the I-path signal and the Q-path signal; The second type of measurement includes: relevant information of the target event.

2. The method according to claim 1, characterized in that Before the first network device sends the perception signal, the method further includes: The first network device determines configuration information of the perception signal.

3. The method according to claim 2, characterized in that The first network device determines configuration information of the sensing signal, including at least one of the following: The first network device receives first configuration information of the sensing signal, where the first configuration information is sent by the second network device; The first network device determines second configuration information of the sensing signal according to the first information; The first information includes at least one of the following: First perceived need; The first recommendation information of the configuration information is determined by the second network device according to the first perception requirement.

4. The method according to claim 2 or 3, characterized in that The configuration information of the perception signal includes at least one of the following parameters: the waveform of the sensing signal; subcarrier spacing of the perception signal; a guard interval of the sensing signal; the bandwidth of the sensing signal; The burst duration of the sensing signal; a time domain interval of the sensing signal; the transmission signal power of the sensing signal; a signal format of the perception signal; a signal direction of the sensing signal; The time resource of the sensing signal; frequency resource of the sensing signal; The quasi-co-site QCL relationship of the sensing signal.

5. The method according to claim 1 or 3, characterized in that The first perception requirement is sent by the second network device to the first network device.

6. The method according to claim 1 or 3, characterized in that The first perceived need is associated with at least one of the following: Perceived objects; Perceived quantity; Perception indicators.

7. The method according to claim 1, characterized in that After obtaining the measurement value corresponding to the measurement quantity, the method further includes any of the following: Sending the measurement quantity and a measurement value corresponding to the measurement quantity to a second network device; A perception result is determined according to the measurement quantity and a measurement value corresponding to the measurement quantity, and the perception result is sent to the second network device.

8. The method according to claim 7, characterized in that The perception result includes at least one of the following: Feature information of the target object; Information about the target event; Information about the target environment.

9. The method according to claim 1, 3 or 7, characterized in that The second network device includes: a mobility and access management function AMF entity or a perception function entity; The sensing function entity satisfies at least one of the following conditions: Manage the overall coordination and scheduling of resources required for sensing; Calculate perception results; Estimating perceptual accuracy; Verify perception results; Supports immediate perception requests; Support for latency-aware requests; Support periodic or event-triggered sensing requests; Support for undoing cyclical or triggering perceived behaviors; determining a perception mode based on the second information; The second information includes: at least one of the type of the sensing client, the sensing quality of service QoS, the sensing capability of the terminal, and the sensing capability of the first network device; The sensing mode is associated with the entities that receive and send the sensing signals.

10. The method according to claim 1, characterized in that The second type of measurement also includes at least one of the following: Feature information of the target object; Information about the target environment.

11. A sensing method, characterized in that: include: The second network device sends at least one of the first sensing requirement and the configuration information of the sensing signal to the first network device; Wherein, the method further includes: The second network device sends first indication information to the first network device; The first indication information is used to indicate the measurement amount of the perception signal that the first network device needs to measure; The measurement quantity includes at least one of the following: The first type of measurement quantity; The second type of measurement quantity; The first type of measurement includes at least one of the following: Channel matrix H; Received signal strength indication RSSI; Reference signal received power RSRP; Channel state information CSI; The power of each path in a multipath channel; The delay of each path in a multipath channel; Angle information of each path in a multipath channel; Doppler spread; Doppler shift; a phase difference between a sensing signal received by the first antenna and a sensing signal received by the second antenna; a time delay difference between the sensing signal received by the first antenna and the sensing signal received by the second antenna; The characteristic difference between the I-path signal and the Q-path signal; The second type of measurement includes: relevant information of the target event.

12. The method according to claim 11, characterized in that The configuration information of the perception signal includes: first configuration information of the perception signal; The first configuration information of the sensing signal is determined by: determining first configuration information of the perception signal according to the third information; The third information includes at least one of the following: First perceived need; Sensing capability information sent by the first network device; Second recommendation information of the configuration information, where the second recommendation information is determined by the first network device according to the first perception requirement and sent to the second network device.

13. The method according to claim 11 or 12, characterized in that Also includes: A first perception requirement is received from a terminal, a first network device, or a third network device.

14. The method according to claim 11, characterized in that After the second network device sends the first perception information to the first network device, the method further includes: receiving a measurement quantity of a perception signal sent by a first network device and a measurement value corresponding to the measurement quantity; Receive a perception result sent by the first network device, where the perception result is obtained by the first network device based on a measurement quantity of a perception signal and a measurement value corresponding to the measurement quantity.

15. The method according to claim 14, characterized in that After receiving the measurement quantity of the perception signal sent by the first network device and the measurement value corresponding to the measurement quantity, at least one of the following items is further included: Obtaining a perception result according to the measurement quantity and a measurement value corresponding to the measurement quantity; The measurement quantity and the measurement value corresponding to the measurement quantity are sent to the terminal or the third network device.

16. The method according to claim 15, characterized in that After obtaining the perception result according to the measurement quantity and the measurement value corresponding to the measurement quantity, the method further includes: The perception result is sent to the terminal or a third network device.

17. The method according to claim 14, characterized in that After receiving the sensing result sent by the first network device, the method further includes: The perception result is sent to the terminal or a third network device.

18. A sensing device, applied to a first network device, characterized in that: include: A first sending module, configured to send a sensing signal; a first acquisition module, configured to detect an echo of the perception signal based on a measurement quantity of the perception signal, and obtain a measurement value corresponding to the measurement quantity; The first acquisition module detects the echo of the perception signal based on the measurement quantity of the perception signal, and before acquiring the measurement value corresponding to the measurement quantity, further includes the following: A first receiving module is configured to receive first indication information sent by a second network device, where the first indication information is used to indicate a measurement amount of the perception signal that the first network device needs to measure; A first determining module, configured to determine a measurement amount of a perception signal according to a first perception requirement; The measurement quantity includes at least one of the following: The first type of measurement quantity; The second type of measurement quantity; The first type of measurement includes at least one of the following: Channel matrix H; Received signal strength indication RSSI; Reference signal received power RSRP; Channel state information CSI; The power of each path in a multipath channel; The delay of each path in a multipath channel; Angle information of each path in a multipath channel; Doppler spread; Doppler shift; a phase difference between a sensing signal received by the first antenna and a sensing signal received by the second antenna; a time delay difference between the sensing signal received by the first antenna and the sensing signal received by the second antenna; The characteristic difference between the I-path signal and the Q-path signal; The second type of measurement includes: relevant information of the target event.

19. A sensing device, applied to a second network device, characterized in that: include: A second sending module, configured to send at least one of the first sensing requirement and the configuration information of the sensing signal to the first network device; Wherein, the device further includes: A third sending module, configured to send first indication information to the first network device; The first indication information is used to indicate the measurement amount of the perception signal that the first network device needs to measure; The measurement quantity includes at least one of the following: The first type of measurement quantity; The second type of measurement quantity; The first type of measurement includes at least one of the following: Channel matrix H; Received signal strength indication RSSI; Reference signal received power RSRP; Channel state information CSI; The power of each path in a multipath channel; The delay of each path in a multipath channel; Angle information of each path in a multipath channel; Doppler spread; Doppler shift; a phase difference between a sensing signal received by the first antenna and a sensing signal received by the second antenna; a time delay difference between the sensing signal received by the first antenna and the sensing signal received by the second antenna; The characteristic difference between the I-path signal and the Q-path signal; The second type of measurement includes: relevant information of the target event.

20. A network device, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the perception method according to any one of claims 1 to 17.

21. A readable storage medium, characterized in that The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the perception method according to any one of claims 1 to 17 are implemented.

Images