Sensing result information sending and receiving method and device, equipment and storage medium

Abstract

The invention discloses a sensing result information sending and receiving method and device, equipment and a storage medium, and relates to the field of sensing measurement. The method comprises: a first node using a first transmission resource to send M pieces of first sensing result information (502); and the second node receives M pieces of first sensing result information sent by the first node by using the first transmission resource. According to the invention, a reporting mode of how to report M pieces of first sensing result information to the second node by the first node when a plurality of pieces of first sensing result information exist is provided.

Description

Method, device, equipment and storage medium for sending and receiving perception result information Technical Field

[0001] The present application relates to the field of perception measurement, and in particular to a method, apparatus, device, and storage medium for sending and receiving perception result information. Background Art

[0002] Wireless sensing refers to the technology of using backscattered radio waves to detect parameters of the physical environment to achieve environmental perception such as target positioning, motion recognition, and imaging.

[0003] When a terminal acts as a sensing signal receiving node to assist in sensing, if it receives multiple sets of sensing signals, it may cache multiple sensing results. How the terminal sends these multiple sensing results to the sensing control node or sensing result sending node is an unresolved technical issue.

[0004] Summary of the Invention

[0005] The present invention provides a method, apparatus, device, and storage medium for sending and receiving sensing result information, which can reduce the signaling overhead when a node sends sensing result information when there are multiple sensing result information. The technical solution is as follows:

[0006] According to one aspect of the present application, a method for sending perception result information is provided, the method comprising:

[0007] The first node sends M first perception result information using the first transmission resource;

[0008] The M first perception result information is obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of perception signals in the M groups of perception signals includes at least one perception signal.

[0009] According to one aspect of the present application, a method for sending perception result information is provided, the method comprising:

[0010] After receiving N groups of sensing signals, the first node uses the second transmission resource to send the first information, where N is a positive integer;

[0011] When the scheduling information is received within the first time period, the first node uses the third transmission resource scheduled by the scheduling information to send part or all of the N first perception result information; or, when the third transmission resource is within the first time period, the first node uses the third transmission resource to send part or all of the N first perception result information;

[0012] The starting point of the first time period is the transmission position of the second transmission resource or is determined based on the transmission position of the second transmission resource, the N first perception result information is obtained based on the N groups of perception signals, and each group of the N groups of perception signals includes at least one perception signal.

[0013] According to one aspect of the present application, a method for receiving perception result information is provided, the method comprising:

[0014] Receiving M first perception result information sent by the first node using the first transmission resource;

[0015] The M first perception result information are obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of perception signals in the M groups of perception signals includes at least one perception signal.

[0016] According to one aspect of the present application, a method for receiving perception result information further includes:

[0017] receiving first information sent by the first node using the second transmission resource, where the first information is sent by the first node after receiving N groups of perception signals, where N is a positive integer;

[0018] Sending scheduling information to the first node, where the scheduling information is used to schedule a third transmission resource for the first node to send part or all of the N first perception result information; the scheduling information and / or the third transmission resource are within a first time period;

[0019] The starting point of the first time period is the transmission position of the second transmission resource or is determined based on the transmission position of the second transmission resource, the N first perception result information is obtained based on the N groups of perception signals, and each group of the N groups of perception signals includes at least one perception signal.

[0020] According to one aspect of the present application, a device for sending perception result information is provided, the device comprising:

[0021] A sending module, using a first transmission resource to send M first perception result information;

[0022] The M first perception result information are obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of perception signals in the M groups of perception signals includes at least one perception signal.

[0023] According to one aspect of the present application, a device for sending perception result information is provided, the device comprising:

[0024] a sending module, configured to send the first information using the second transmission resource after the receiving module receives N groups of sensing signals, where N is a positive integer;

[0025] The sending module is configured to, when the receiving module receives the scheduling information within the first time period, use the third transmission resource scheduled by the scheduling information to send part or all of the N first perception result information; or, when the third transmission resource is within the first time period, the first node uses the third transmission resource to send part or all of the N first perception result information;

[0026] The starting point of the first time period is the transmission position of the second transmission resource or is determined based on the transmission position of the second transmission resource, the N first perception result information is obtained based on the N groups of perception signals, and each group of the N groups of perception signals includes at least one perception signal.

[0027] According to one aspect of the present application, a device for receiving perception result information is provided, the device comprising:

[0028] A receiving module, configured to receive M first perception result information sent by the first node using the first transmission resource;

[0029] The M first perception result information are obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of perception signals in the M groups of perception signals includes at least one perception signal.

[0030] According to one aspect of the present application, a device for receiving perception result information is provided, the device comprising:

[0031] a receiving module, configured to receive first information sent by a first node using a second transmission resource, where the first information is sent by the first node after receiving N groups of perception signals, where N is a positive integer;

[0032] A sending module, configured to send scheduling information to the first node, where the scheduling information is used to schedule a third transmission resource for the first node to send part or all of the N first perception result information; the scheduling information and / or the third transmission resource are within a first time period;

[0033] The starting point of the first time period is the transmission position of the second transmission resource or is determined based on the transmission position of the second transmission resource, the N first perception result information is obtained based on the N groups of perception signals, and each group of the N groups of perception signals includes at least one perception signal.

[0034] According to one aspect of the present application, a perception measurement device is provided, comprising: a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the perception measurement device to implement the method for sending perception result information as described above.

[0035] According to one aspect of the present application, a perception measurement device is provided, wherein the proxy response device includes: a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the perception measurement device to implement the above-mentioned method for receiving perception result information.

[0036] According to one aspect of the present application, a computer-readable storage medium is provided, in which at least one program is stored. The at least one program is loaded and executed by a computer device to implement the method for sending perception result information as described above, and / or the method for receiving perception result information as described above.

[0037] According to one aspect of an embodiment of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions, and a computer device equipped with the chip is used to implement the method for sending perception result information as described above, and / or the method for receiving perception result information as described above.

[0038] According to one aspect of the present application, a computer program product is provided. When the computer program product is run on a computer device (or its processor), the computer device executes the above-described method for sending perception result information and / or the above-described method for receiving perception result information.

[0039] The technical solutions provided by the embodiments of the present application include at least the following beneficial effects:

[0040] When the first node assists in achieving perception as a perception signal receiving node, the first node needs to report the obtained perception result to the perception control node or the perception result receiving node. This application provides a reporting method for the first node to report multiple first perception result information to the second node when there are multiple first perception result information.

[0041] In one possible implementation, the first node reports M pieces of first perception result information in a same transmission resource, without having to report each piece of first perception result information separately, thereby reducing signaling overhead.

[0042] In one possible implementation, when the first node expects to report multiple first perception result information (for example, when abnormal perception measurement result information is found), it first reports the first information, and the first information is used to trigger the second node or the perception control node to send scheduling information; if the scheduling information is received within the first time period, the third transmission resource indicated by the scheduling information is used to transmit and report all or part of the multiple first perception result information, without the need to report each first perception result information separately, thereby reducing the signaling overhead. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] FIG1 is a schematic diagram of a perception scenario 1 provided by an exemplary embodiment of the present application;

[0045] FIG2 is a schematic diagram of a second perception scenario provided by an exemplary embodiment of the present application;

[0046] FIG3 is a schematic diagram of a perception scenario 3 provided by an exemplary embodiment of the present application;

[0047] FIG4 is a schematic diagram of a perception measurement system provided by an exemplary embodiment of the present application;

[0048] FIG5 is a flowchart of a method for sending perception result information provided by an exemplary embodiment of the present application;

[0049] FIG6 is a time-frequency diagram of a method for sending perception result information provided by an exemplary embodiment of the present application;

[0050] FIG7 is a flowchart of a method for sending perception result information provided by an exemplary embodiment of the present application;

[0051] FIG8 is a time-frequency diagram of a method for sending perception result information provided by an exemplary embodiment of the present application;

[0052] FIG9 is a time-frequency diagram of a method for sending perception result information provided by an exemplary embodiment of the present application;

[0053] FIG10 is a time-frequency diagram of a method for transmitting perception result information provided by an exemplary embodiment of the present application;

[0054] FIG11 is a flowchart of a method for sending perception result information provided by another exemplary embodiment of the present application;

[0055] FIG12 is a flowchart of a method for receiving perception result information provided by another exemplary embodiment of the present application;

[0056] FIG13 is a time-frequency diagram of a method for sending perception result information provided by another exemplary embodiment of the present application;

[0057] FIG14 is a flowchart of a method for receiving perception result information provided by another exemplary embodiment of the present application;

[0058] FIG15 is a structural block diagram of a device for sending perception result information provided by an exemplary embodiment of the present application;

[0059] FIG16 is a structural block diagram of a device for sending perception result information provided by an exemplary embodiment of the present application;

[0060] FIG17 is a structural block diagram of a device for receiving perception result information provided by an exemplary embodiment of the present application;

[0061] FIG18 is a structural block diagram of a device for receiving perception result information provided by an exemplary embodiment of the present application;

[0062] FIG19 is a schematic structural diagram of a sensing device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0064] Wireless communication and wireless sensing are two key applications of modern radio frequency technology. Wireless sensing uses backscattered radio waves to detect parameters of the physical environment, enabling environmental perception such as target location, motion recognition, and imaging. Traditionally, wireless sensing and cellular communications exist independently, and this separate design wastes wireless spectrum and hardware resources.

[0065] As we enter the era of beyond-5G (B5G) and sixth-generation (6G) mobile communication systems, the communication spectrum is shifting towards millimeter-wave, terahertz, and visible light communications. The spectrum for future wireless communications will overlap with the traditional sensing spectrum. Communication sensing technology integrates communication and sensing functions. It can leverage wireless resource management to address interference issues in traditional wireless sensing; it can leverage widely deployed cellular networks to enable sensing services over a wider range; it can leverage base stations and multiple terminals for joint sensing, achieving higher sensing accuracy; and it can reuse communication hardware modules to implement sensing functions, reducing costs. In short, communication sensing technology will enable future wireless communication systems to possess sensing capabilities, providing a foundation for the development of smart transportation, smart cities, smart factories, drones, and other services.

[0066] The following are several sensing scenarios where base stations control and terminals assist:

[0067] Perception scenario 1: As shown in Figure 1, the base station 10 acts as a sensing signal sending node (Sensing Tx, STx) to send a sensing signal (Sensing Signal) to the first terminal 11. The sensing signal is reflected or refracted at the first terminal 11. The second terminal 12 acts as a sensing signal receiving node to receive the reflected / refracted signal to obtain the perception result and report it to the base station or other receiving party.

[0068] Perception Scenario 2: When the perceived object itself is an active object (such as a mobile phone or IoT device), if the perceived object can participate in perception with some degree of assistance, it will undoubtedly greatly benefit perception performance. As shown in Figure 2, base station 10, as a perception signal transmitting node, sends a perception signal to a third terminal 13. Third terminal 13, as a perception signal receiving node, obtains a perception result based on the received perception signal and reports the perception result to base station 10 or other receiving parties (other base stations, terminals).

[0069] Perception scenario 3: As shown in Figure 3, the first terminal 11 acts as a perception signal sending node to send a perception signal to the second terminal 12. At the same time, the first terminal 11 is also a perception signal receiving node. It obtains a perception result based on the echo signal reflected / refracted by the perception signal and reports the perception result to the base station 10 or other receiving parties (other base stations, terminals).

[0070] Of course, the entire sensing measurement process can also be controlled by one terminal and completed with the assistance of other terminals. That is, the base stations in Figures 1 to 3 above are replaced by terminals, and no further details are given.

[0071] 4 shows a structural block diagram of a perception measurement system 100 provided by an exemplary embodiment of the present application. The perception measurement system 100 includes: a base station 10 , a first terminal 11 , and a second terminal 12 .

[0072] The base station 10 is also called an access network device, and is used to control the use of air interface resources by the first terminal 140 and the second terminal 160 .

[0073] In some sensing scenarios, the first terminal 11 is a first node that serves as a sensing signal receiving node, and the base station 10 is a second node that serves as a sensing signal sending node, a sensing result receiving node, and a sensing control node.

[0074] In some sensing scenarios, the first terminal 11 is a first node that receives sensing signals. The second terminal 12 is a second node that sends sensing signals and receives sensing results. The base station 10 is a sensing control node.

[0075] Of course, in different perception scenarios, the types of perception measurement roles played by the above-mentioned devices may be different, and this embodiment will not enumerate them one by one.

[0076] FIG5 shows a flowchart of a method for sending perception result information provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the method executed by the first node as an example. The method includes:

[0077] Step 502: The first node sends M pieces of first sensing result information using a first transmission resource;

[0078] The first node is a node participating in the perception measurement. Optionally, the first node sends M first perception result information to the second node using a first transmission resource. The second node is a perception signal sending node, or a perception control node.

[0079] The first node is a sensing signal receiving node. Optionally, the first node serves as both a sensing signal sending node and a sensing signal receiving node. This embodiment does not limit the role of the first node in the sensing measurement process, which depends on the specific sensing scenario.

[0080] The M first perception result information is obtained based on M groups of perception signals, where M is a positive integer greater than 1, each group of perception signals in the M groups of perception signals includes at least one perception signal, and the number of perception signals in each group of perception signals is the same or different.

[0081] In some embodiments, the M groups of perception signals are transmitted at different time domain locations, or at least two groups of perception signals are transmitted at different time domain locations. Optionally, the M groups of perception signals are transmitted periodically, or the M groups of perception signals are transmitted aperiodically. Optionally, the M groups of perception signals are consecutive M groups of perception signals from multiple groups of periodically transmitted perception signals, or the M groups of perception signals are designated or screened M groups of perception signals (not necessarily consecutive) from multiple groups of periodically transmitted perception signals.

[0082] 6 , the first node sends four pieces of first perception result information 1-4 using a first transmission resource 50. The first perception result information 1 is obtained based on the first group of perception signals, the first perception result information 2 is obtained based on the second group of perception signals, the first perception result information 3 is obtained based on the third group of perception signals, and the first perception result information 4 is obtained based on the fourth group of perception signals.

[0083] The first transmission resource is a periodic transmission resource, a semi-statically indicated transmission resource, or a dynamically indicated transmission resource. The first transmission resource can be configured by the second node to the first node, or configured by the perception control node to the first node, or autonomously selected by the first node from a resource pool.

[0084] In some embodiments, the M groups of sensing signals are the last M groups of sensing signals before the first time position.

[0085] First time position:

[0086] In some embodiments, the first time position is any one of the following time positions:

[0087] The first time position is a time domain position of the first transmission resource;

[0088] The first time position is a starting position of the first transmission resource in the time domain, or the first time position is an ending position of the first transmission resource in the time domain.

[0089] The first time position is determined based on the time domain position of the first transmission resource;

[0090] The first time position is determined based on the starting position of the first transmission resource in the time domain, or the first time position is determined based on the ending position of the first transmission resource in the time domain, or the first time position is determined based on the starting position and ending position of the first transmission resource in the time domain, such as the middle position between the starting position and the ending position.

[0091] Exemplarily, the first time position is a time position that is advanced by a time domain position of the first transmission resource by a time duration T. The time duration T is predefined, preconfigured, or autonomously determined. The time duration T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0092] The first time position is the transmission position of the indication information;

[0093] The instruction information is used to instruct the first node to send M pieces of first perception result information. The instruction information is sent by the second node to the first node, or the instruction information is sent by a perception control node different from the second node to the first node.

[0094] The first time position is determined based on the transmission position of the indication information;

[0095] The first time position is determined based on the starting position of the transmission position of the indication information in the time domain, or the first time position is determined based on the ending position of the transmission position of the indication information in the time domain, or the first time position is determined based on the starting position and ending position of the transmission position of the indication information in the time domain, such as the middle position between the starting position and the ending position.

[0096] Exemplarily, the first time position is a time position at which the transmission position of the indication information is advanced by a time period T. The time period T is predefined, preconfigured, or autonomously determined. The time period T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0097] First perception result information:

[0098] In some embodiments, the first perception result information includes at least one of the following information:

[0099] Characteristic quantities of perceptual signals;

[0100] The characteristic quantities of the perception signal include: at least one of the following characteristics: signal amplitude, signal amplitude mean, signal amplitude variance, angle difference, angle mean, angle variance, distribution of amplitude mean / variance, distribution of angle mean / variance, power spectrum, Doppler shift information, etc.

[0101] Offset or differential information of characteristic quantities of the perceived signal;

[0102] The offset information of the feature quantity refers to the offset value of the feature quantity of the current perceptual signal relative to the feature quantity of the reference perceptual signal. The differential information of the feature quantity refers to the differential information of the feature quantity of the current perceptual signal relative to the feature quantity of the reference perceptual signal. The offset information and differential information can be understood as the same information or the same type of information.

[0103] The reference perception signal may be the first perception signal, or the first perception signal within a period of time, or the first perception signal within a cycle, or the first perception signal in the same group of perception signals, or the perception signal preceding the current perception signal, or the first perception signal among the M perception signals reported this time. This embodiment does not limit the manner of selecting the reference perception signal.

[0104] · Perceive the channel information that the signal has experienced;

[0105] The channel information experienced by the perceived signal includes at least one of channel matrix information, multipath delay, and fading information.

[0106] · The offset or differential information of the channel information experienced by the sensing signal;

[0107] Channel information offset information refers to the offset value of the channel information of the current perception signal relative to the channel information of the reference perception signal. Channel information differential information refers to the differential information of the channel information of the current perception signal relative to the channel information of the reference perception signal. Offset information and differential information can be understood as the same information or the same type of information.

[0108] The reference perception signal may be the first perception signal, or the first perception signal within a period of time, or the first perception signal within a cycle, or the first perception signal in the same group of perception signals, or the perception signal preceding the current perception signal, or the first perception signal among the M perception signals reported this time. This embodiment does not limit the manner of selecting the reference perception signal.

[0109] Application-oriented perception results.

[0110] For example: information such as a person or object falling, a moving object intruding, and the counting of target objects.

[0111] To sum up, the method provided in this embodiment, by standardizing the reporting method of the first node, can use fewer first transmission resources to simultaneously send M first perception result information when the first node perceives multiple first perception result information. There is no need to report each first perception result information separately, saving the resource consumption required for the perception result reporting process and reducing the signaling overhead.

[0112] FIG7 shows a flowchart of a method for sending perception result information provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the method executed by the first node as an example. The method includes:

[0113] Step 501: The first node obtains N first sensing result information based on N groups of sensing signals;

[0114] Among them, N is greater than or equal to M, and the N first perception result information includes M first perception result information.

[0115] The first node is a node participating in the perception measurement. Optionally, the first node is a perception signal receiving node. Optionally, the first node functions as both a perception signal sending node and a perception signal receiving node. This embodiment does not limit the role of the first node in the perception measurement process; it depends on the specific perception scenario.

[0116] In some embodiments, the N groups of perception signals are sent at different time domain locations, or at least two groups of perception signals are sent at different time domain locations. Optionally, the N groups of perception signals are sent periodically, or the N groups of perception signals are sent aperiodically.

[0117] In some embodiments, the sensing sending node may send multiple sets of sensing signals. The first node obtains N first sensing result information based on the N sets of sensing signals. That is, the N first sensing result information is obtained based on the N sets of sensing signals, where N is a positive integer greater than 1, each of the N sets of sensing signals includes at least one sensing signal, and the number of sensing signals in each set of sensing signals is the same or different. In some embodiments, N is related to the cache capacity of the first node, for example, N is equal to or less than the number of first sensing result information that the first node can cache.

[0118] In some embodiments, the N groups of sensing signals are the last N groups of sensing signals before the second time position. For example, if N=4, then the N groups of sensing signals are the last four groups of sensing signals before the second time position. The N pieces of first sensing result information are the last four pieces of first sensing result information before the second time position. Of course, at the beginning or end of the multiple groups of sensing signals, the first sensing result information obtained by the first node before the second time position may be less than the N pieces of first sensing result information.

[0119] Second time position:

[0120] In some embodiments, the second time position is any one of the following time positions:

[0121] The second time position is the time domain position of the first transmission resource;

[0122] The second time position is the starting position of the first transmission resource in the time domain, or the second time position is the ending position of the first transmission resource in the time domain.

[0123] The second time position is determined based on the time domain position of the first transmission resource;

[0124] The second time position is determined based on the starting position of the first transmission resource in the time domain, or the second time position is determined based on the ending position of the first transmission resource in the time domain, or the second time position is determined based on the starting position and ending position of the first transmission resource in the time domain, such as the middle position between the starting position and the ending position.

[0125] Exemplarily, the second time position is a time position where the time domain position of the first transmission resource is advanced by a time duration T. The time duration T is predefined, preconfigured, or autonomously determined. The time duration T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0126] The second time position is the transmission position of the indication information;

[0127] The instruction information is used to instruct the first node to send M pieces of first perception result information. The instruction information is sent by the second node to the first node, or the instruction information is sent by a perception control node different from the second node to the first node.

[0128] The second time position is determined based on the transmission position of the indication information;

[0129] The second time position is determined based on the starting position of the transmission position of the indication information in the time domain, or the second time position is determined based on the ending position of the transmission position of the indication information in the time domain, or the second time position is determined based on the starting position and ending position of the transmission position of the indication information in the time domain, such as the middle position between the starting position and the ending position.

[0130] Exemplarily, the second time position is a time position of the transmission position of the indication information advanced by a time period T. The time period T is predefined, preconfigured, or autonomously determined. The time period T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0131] As shown in Figure 8 , assuming N = 4, the second time position is the starting position of the first transmission resource in the time domain. The first node always caches the four most recent first perception result information. Before the second time position 51, the four sets of first perception result information only include: first perception result information 1 and second perception result information 2. Before the second time position 52, the four sets of first perception result information include: first perception result information 1 to 4. Before the second time position 53, the four sets of first perception result information include: first perception result information 3 to 6.

[0132] As shown in Figure 9 , assuming N=4, the second time position is the time position of the first transmission resource ahead of the time domain position by a time length of T. Before the second time position 54, the four groups of first perception result information include: first perception result information 1 to 4.

[0133] In some embodiments, the transmission resources for the multiple or N groups of sensing information are semi-statically configured periodic resources, or the transmission resources for each of the multiple or N groups of sensing signals are dynamically configured dynamic resources. This embodiment does not limit the transmission method of the multiple or N groups of sensing information.

[0134] First perception result information:

[0135] In some embodiments, the first perception result information includes at least one of the following information:

[0136] Characteristic quantities of perceptual signals;

[0137] The characteristic quantities of the perception signal include: at least one of the following characteristics: signal amplitude, signal amplitude mean, signal amplitude variance, angle difference, angle mean, angle variance, distribution of amplitude mean / variance, distribution of angle mean / variance, power spectrum, Doppler shift information, etc.

[0138] Offset or differential information of characteristic quantities of the perceived signal;

[0139] The offset information of the feature quantity refers to the offset value of the feature quantity of the current perceptual signal relative to the feature quantity of the reference perceptual signal. The differential information of the feature quantity refers to the differential information of the feature quantity of the current perceptual signal relative to the feature quantity of the reference perceptual signal. The offset information and differential information can be understood as the same information or the same type of information.

[0140] The reference perception signal may be the first perception signal, or the first perception signal within a period of time, or the first perception signal within a cycle, or the first perception signal in the same group of perception signals, or the perception signal preceding the current perception signal, or the first perception signal among the M perception signals reported this time. This embodiment does not limit the manner of selecting the reference perception signal.

[0141] · Perceive the channel information experienced by the signal;

[0142] The channel information experienced by the perceived signal includes at least one of channel matrix information, multipath delay, and fading information.

[0143] · The offset or differential information of the channel information experienced by the sensing signal;

[0144] Channel information offset information refers to the offset value of the channel information of the current perception signal relative to the channel information of the reference perception signal. Channel information differential information refers to the differential information of the channel information of the current perception signal relative to the channel information of the reference perception signal. Offset information and differential information can be understood as the same information or the same type of information.

[0145] The reference perception signal may be the first perception signal, or the first perception signal within a period of time, or the first perception signal within a cycle, or the first perception signal in the same group of perception signals, or the perception signal preceding the current perception signal, or the first perception signal among the M perception signals reported this time. This embodiment does not limit the manner of selecting the reference perception signal.

[0146] Application-oriented perception results.

[0147] For example: information such as a person or object falling, a moving object intruding, and the counting of target objects.

[0148] Step 502: The first node sends M pieces of first sensing result information using a first transmission resource;

[0149] The M pieces of first perception result information are obtained based on M groups of perception signals, where M is a positive integer greater than 1, and each group of the M groups of perception signals includes at least one perception signal.

[0150] In some embodiments, the M groups of perception signals are transmitted at different time domain locations, or at least two groups of perception signals are transmitted at different time domain locations. Optionally, the M groups of perception signals are transmitted periodically, or the M groups of perception signals are transmitted aperiodically. Optionally, the M groups of perception signals are consecutive M groups of perception signals from multiple groups of periodically transmitted perception signals, or the M groups of perception signals are designated or screened M groups of perception signals (not necessarily consecutive) from multiple groups of periodically transmitted perception signals.

[0151] The first transmission resource is a periodic transmission resource, a semi-statically indicated transmission resource, or a dynamically indicated transmission resource. The first transmission resource can be configured by the second node to the first node, or configured by the perception control node to the first node, or autonomously selected by the first node from a resource pool.

[0152] In some embodiments, the first node receives indication information, the indication information being used to instruct the first node to send M first perception result information. Optionally, the indication information is further used to indicate a value of M. Alternatively, the indication information is further used to indicate the M first perception result information, that is, information determining the M first perception result information from the N first perception result information, such as a bitmap.

[0153] In some embodiments, the first node receives configuration information, where the configuration information is used to indicate at least one of the following information: a first transmission resource and a value of M. The configuration information and the indication information may be the same information, or the configuration information and the indication information may be two different pieces of information. For example, when the first transmission resource is a dynamically indicated transmission resource, the configuration information and the indication information are the same information; for another example, when the first transmission resource is a semi-statically indicated periodic transmission resource, the configuration information and the indication information are different pieces of information, the configuration information may be configuration information for the semi-static configuration, and the indication information may be activation signaling for the semi-static configuration.

[0154] In some embodiments, the M groups of sensing signals are the last M groups of sensing signals before the first time position.

[0155] First time position:

[0156] In some embodiments, the first time position is any one of the following time positions:

[0157] The first time position is a time domain position of the first transmission resource;

[0158] The first time position is a starting position of the first transmission resource in the time domain, or the first time position is an ending position of the first transmission resource in the time domain.

[0159] The first time position is determined based on the time domain position of the first transmission resource;

[0160] The first time position is determined based on the starting position of the first transmission resource in the time domain, or the first time position is determined based on the ending position of the first transmission resource in the time domain, or the first time position is determined based on the starting position and ending position of the first transmission resource in the time domain, such as the middle position between the starting position and the ending position.

[0161] Exemplarily, the first time position is a time position that is advanced by a time domain position of the first transmission resource by a time duration T. The time duration T is predefined, preconfigured, or autonomously determined. The time duration T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0162] The first time position is the transmission position of the indication information;

[0163] The instruction information is used to instruct the first node to send M pieces of first perception result information. The instruction information is sent by the second node to the first node, or the instruction information is sent by a perception control node different from the second node to the first node.

[0164] The first time position is determined based on the transmission position of the indication information;

[0165] The first time position is determined based on the starting position of the transmission position of the indication information in the time domain, or the first time position is determined based on the ending position of the transmission position of the indication information in the time domain, or the first time position is determined based on the starting position and ending position of the transmission position of the indication information in the time domain, such as the middle position between the starting position and the ending position.

[0166] Exemplarily, the first time position is a time position where the transmission position of the indication information is advanced by a time period T. The time period T is predefined, preconfigured, or autonomously determined. The time period T is related to a processing delay for the first node to generate the perception result information based on the perception signal.

[0167] In some embodiments, the first time position and the second time position are the same time position, or different time positions. For example, the second time position is determined based on the time domain position of the first transmission resource, and the first time position is determined by the transmission position of the indication information.

[0168] With reference to FIG10 as an example, assuming that the second time position is the same as the first time position and both are transmission positions of the first transmission resource, M=2, then the M pieces of first perception result information include first perception result 4 and first perception result information 5. assuming that the second time position is the transmission position of the indication information, and the transmission position of the first transmission resource is the position of the first transmission resource advanced by T time lengths, M=2, then the M pieces of first perception result information include first perception result 3 and first perception result information 4.

[0169] In some embodiments, the M first perception result information is determined from the N first perception result information based on the indication information. Exemplarily, the indication information carries a bitmap, and the first node determines the M first perception result information from the N first perception result information based on the bitmap.

[0170] For example, the N first perception result information are first perception result information 1 to 4. When the bitmap is equal to 1010, it means that the M first perception result information are first perception result information 1 and first perception result information 3; when the bitmap is equal to 0011, it means that the M first perception result information are first perception result information 3 and first perception result information 4. That is, the bitmap includes N bits. When the i-th bit takes the first value (for example, 1), it means that the i-th first perception result information belongs to the M first perception result information; when the i-th bit takes the second value (for example, 0), it means that the i-th first perception result information does not belong to the M first perception result information.

[0171] To sum up, the method provided in this embodiment, by standardizing the reporting method of the first node, can use fewer first transmission resources to simultaneously send M first perception result information when the first node perceives multiple first perception result information. There is no need to report each first perception result information separately, saving the resource consumption required for the perception result reporting process and reducing the signaling overhead.

[0172] In the method provided in this embodiment, when N is greater than M, the perception control node can, based on the perception needs, trigger the first node to report more first perception result information at certain times (that is, increase the value of M, with a maximum of N), thereby improving the perception accuracy; when N is always equal to M, the storage resource requirements of the first node can be reduced, thereby reducing the hardware cost or storage overhead of the first node.

[0173] In the method provided in this embodiment, the second node or the perception control node indicates to the first node, via a bitmap, the M first perception results that need to be uploaded. The first node stores the most recent multiple first perception results. Based on the performance requirements of the perception service, the second node or the perception control node can request the first node to report multiple specified perception results, thereby observing changes in the perception signal and obtaining a more accurate final perception result.

[0174] FIG11 shows a flowchart of a method for receiving perception result information provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the method as being performed by the second node. The method includes:

[0175] Step 602: The second node receives M first perception result information sent by the first node using the first transmission resource.

[0176] The second node is a node participating in the sensing measurement. Optionally, the second node is a sensing signal sending node or a sensing control node.

[0177] The first node is a node participating in the perception measurement. Optionally, the first node uses a first transmission resource to send M first perception result information to the second node. The second node is a perception signal sending node, a perception control node, or both a perception signal sending node and a perception control node. This embodiment does not limit the role of the second node in the perception measurement process; it depends on the specific perception scenario.

[0178] The first node is a sensing signal receiving node. Optionally, the first node serves as both a sensing signal sending node and a sensing signal receiving node. This embodiment does not limit the role of the first node in the sensing measurement process, which depends on the specific sensing scenario.

[0179] The M first perception result information is obtained based on M groups of perception signals, where M is a positive integer greater than 1, each group of perception signals in the M groups of perception signals includes at least one perception signal, and the number of perception signals in each group of perception signals is the same or different.

[0180] In some embodiments, the M groups of perception signals are transmitted at different time domain locations, or at least two groups of perception signals are transmitted at different time domain locations. Optionally, the M groups of perception signals are transmitted periodically, or the M groups of perception signals are transmitted aperiodically. Optionally, the M groups of perception signals are consecutive M groups of perception signals from multiple groups of periodically transmitted perception signals, or the M groups of perception signals are designated or screened M groups of perception signals (not necessarily consecutive) from multiple groups of periodically transmitted perception signals.

[0181] The first transmission resource is a periodic transmission resource, a semi-statically indicated transmission resource, or a dynamically indicated transmission resource. The first transmission resource can be configured by the second node to the first node, or configured by the perception control node to the first node, or autonomously selected by the first node from a resource pool.

[0182] In some embodiments, the M groups of sensing signals are the last M groups of sensing signals before the first time position.

[0183] First time position:

[0184] In some embodiments, the first time position is any one of the following time positions:

[0185] The first time position is a time domain position of the first transmission resource;

[0186] The first time position is a starting position of the first transmission resource in the time domain, or the first time position is an ending position of the first transmission resource in the time domain.

[0187] The first time position is determined based on the time domain position of the first transmission resource;

[0188] The first time position is determined based on the starting position of the first transmission resource in the time domain, or the first time position is determined based on the ending position of the first transmission resource in the time domain, or the first time position is determined based on the starting position and ending position of the first transmission resource in the time domain, such as the middle position between the starting position and the ending position.

[0189] Exemplarily, the first time position is a time position where the time domain position of the first transmission resource is advanced by a time duration T. The time duration T is predefined, preconfigured, or autonomously determined. The time duration T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0190] The first time position is the transmission position of the indication information;

[0191] The instruction information is used to instruct the first node to send M pieces of first perception result information. The instruction information is sent by the second node to the first node, or the instruction information is sent by a perception control node different from the second node to the first node.

[0192] The first time position is determined based on the transmission position of the indication information;

[0193] The first time position is determined based on the starting position of the transmission position of the indication information in the time domain, or the first time position is determined based on the ending position of the transmission position of the indication information in the time domain, or the first time position is determined based on the starting position and ending position of the transmission position of the indication information in the time domain, such as the middle position between the starting position and the ending position.

[0194] Exemplarily, the first time position is a time position at which the transmission position of the indication information is advanced by a time period T. The time period T is predefined, preconfigured, or autonomously determined. The time period T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0195] First perception result information:

[0196] In some embodiments, the first perception result information includes at least one of the following information:

[0197] Characteristic quantities of perceptual signals;

[0198] The characteristic quantities of the perception signal include: at least one of the following characteristics: signal amplitude, signal amplitude mean, signal amplitude variance, angle difference, angle mean, angle variance, distribution of amplitude mean / variance, distribution of angle mean / variance, power spectrum, Doppler shift information, etc.

[0199] Offset or differential information of characteristic quantities of the perceived signal;

[0200] The offset information of the feature quantity refers to the offset value of the feature quantity of the current perceptual signal relative to the feature quantity of the reference perceptual signal. The differential information of the feature quantity refers to the differential information of the feature quantity of the current perceptual signal relative to the feature quantity of the reference perceptual signal. The offset information and differential information can be understood as the same information or the same type of information.

[0201] The reference perception signal may be the first perception signal, or the first perception signal within a period of time, or the first perception signal within a cycle, or the first perception signal in the same group of perception signals, or the perception signal preceding the current perception signal, or the first perception signal among the M perception signals reported this time. This embodiment does not limit the manner of selecting the reference perception signal.

[0202] · Perceive the channel information that the signal has experienced;

[0203] The channel information experienced by the perceived signal includes at least one of channel matrix information, multipath delay, and fading information.

[0204] · The offset or differential information of the channel information experienced by the sensing signal;

[0205] Channel information offset information refers to the offset value of the channel information of the current perception signal relative to the channel information of the reference perception signal. Channel information differential information refers to the differential information of the channel information of the current perception signal relative to the channel information of the reference perception signal. Offset information and differential information can be understood as the same information or the same type of information.

[0206] The reference perception signal may be the first perception signal, or the first perception signal within a period of time, or the first perception signal within a cycle, or the first perception signal in the same group of perception signals, or the perception signal preceding the current perception signal, or the first perception signal among the M perception signals reported this time. This embodiment does not limit the manner of selecting the reference perception signal.

[0207] Application-oriented perception results.

[0208] For example: information such as a person or object falling, a moving object intruding, and the counting of target objects.

[0209] If the second node is a sensing signal sending node, the second node also sends multiple sets of sensing signals to the first node in advance. Exemplarily, the second node sends N sets of sensing signals to the first node. The N first sensing result information is obtained based on the N sets of sensing signals, where N is a positive integer greater than 1, and each of the N sets of sensing signals includes at least one sensing signal.

[0210] In some embodiments, the N groups of perception signals are sent at different time domain locations, or at least two groups of perception signals are sent at different time domain locations. Optionally, the N groups of perception signals are sent periodically, or the N groups of perception signals are sent aperiodically.

[0211] In some embodiments, N is related to the cache capability of the first node, for example, N is equal to or less than the amount of first perception result information that can be cached by the first node.

[0212] In some embodiments, the N groups of sensing signals are the last N groups of sensing signals before the second time position. For example, if N=4, then the N groups of sensing signals are the last four groups of sensing signals before the second time position. The N pieces of first sensing result information are the last four pieces of first sensing result information before the second time position. Of course, at the beginning or end of the multiple groups of sensing signals, the first sensing result information obtained by the first node before the second time position may be less than the N pieces of first sensing result information.

[0213] Second time position:

[0214] In some embodiments, the second time position is any one of the following time positions:

[0215] The second time position is the time domain position of the first transmission resource;

[0216] The second time position is the starting position of the first transmission resource in the time domain, or the second time position is the ending position of the first transmission resource in the time domain.

[0217] The second time position is determined based on the time domain position of the first transmission resource;

[0218] The second time position is determined based on the starting position of the first transmission resource in the time domain, or the second time position is determined based on the ending position of the first transmission resource in the time domain, or the second time position is determined based on the starting position and ending position of the first transmission resource in the time domain, such as the middle position between the starting position and the ending position.

[0219] Exemplarily, the second time position is a time position that is T time ahead of the time domain position of the first transmission resource. The time T is predefined, preconfigured, or autonomously determined. The time T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0220] The second time position is the transmission position of the indication information;

[0221] The instruction information is used to instruct the first node to send M pieces of first perception result information. The instruction information is sent by the second node to the first node, or the instruction information is sent by a perception control node different from the second node to the first node.

[0222] The second time position is determined based on the transmission position of the indication information;

[0223] The second time position is determined based on the starting position of the transmission position of the indication information in the time domain, or the second time position is determined based on the ending position of the transmission position of the indication information in the time domain, or the second time position is determined based on the starting position and ending position of the transmission position of the indication information in the time domain, such as the middle position between the starting position and the ending position.

[0224] Exemplarily, the second time position is a time position of the transmission position of the indication information advanced by a time period T. The time period T is predefined, preconfigured, or autonomously determined. The time period T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0225] In some embodiments, the transmission resources for the multiple or N groups of sensing information are semi-statically configured periodic resources, or the transmission resources for each of the multiple or N groups of sensing signals are dynamically configured dynamic resources. This embodiment does not limit the transmission method of the multiple or N groups of sensing information.

[0226] In some embodiments, the second node further sends instruction information to the first node, the instruction information being used to instruct the first node to send M first perception result information. Optionally, the instruction information is further used to indicate a value of M. Alternatively, the instruction information is further used to indicate the M first perception result information, that is, information determining the M first perception result information from the N first perception result information, such as a bitmap.

[0227] The bit map is used to instruct the first node to determine M first perception result information from N first perception result information.

[0228] For example, the N first perception result information are first perception result information 1 to 4. When the bitmap is equal to 1010, it means that the M first perception result information are first perception result information 1 and first perception result information 3; when the bitmap is equal to 0011, it means that the M first perception result information are first perception result information 3 and first perception result information 4. That is, the bitmap includes N bits. When the i-th bit takes the first value (for example, 1), it means that the i-th first perception result information belongs to the M first perception result information; when the i-th bit takes the second value (for example, 0), it means that the i-th first perception result information does not belong to the M first perception result information.

[0229] To sum up, the method provided in this embodiment, by standardizing the reporting method of the first node, can use fewer first transmission resources to simultaneously send M first perception result information when the first node perceives multiple first perception result information. There is no need to report each first perception result information separately, saving the resource consumption required for the perception result reporting process and reducing the signaling overhead.

[0230] In the method provided in this embodiment, when N is greater than M, the perception control node can, based on the perception needs, trigger the first node to report more first perception result information at certain times to improve the perception accuracy; when N=M, the storage resource requirements of the first node are reduced, thereby reducing the hardware cost or storage overhead of the first node.

[0231] In the method provided in this embodiment, the second node or the perception control node indicates to the first node, via a bitmap, the M first perception results that need to be uploaded. The first node stores the most recent multiple first perception results. Based on the performance requirements of the perception service, the second node or the perception control node can request the first node to report multiple specified perception results, thereby observing changes in the perception signal and obtaining a more accurate final perception result.

[0232] FIG12 is a flowchart of a method for sending perception result information provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the method as being performed by the first node. The method includes:

[0233] Step 702: After receiving N groups of sensing signals, the first node uses the second transmission resource to send first information, where N is a positive integer.

[0234] The first node is a node participating in the perception measurement. Optionally, the first node is a perception signal receiving node. Optionally, the first node functions as both a perception signal sending node and a perception signal receiving node. This embodiment does not limit the role of the first node in the perception measurement process; it depends on the specific perception scenario.

[0235] A first node receives N groups of sensing signals and generates N pieces of first sensing result information based on the N groups of sensing signals. Each of the N groups of sensing signals includes at least one sensing signal, and the number of sensing signals in each group of sensing signals is the same or different. The N pieces of first sensing result information are obtained based on the N groups of sensing signals, where N is a positive integer greater than 1, and each of the N groups of sensing signals includes at least one sensing signal.

[0236] In some embodiments, the N groups of perception signals are sent at different time domain locations, or at least two groups of perception signals are sent at different time domain locations. Optionally, the N groups of perception signals are sent periodically, or the N groups of perception signals are sent aperiodically.

[0237] In some embodiments, the sensing sending node may send multiple sets of sensing signals. The first node obtains N first sensing result information based on the N sets of sensing signals. In some embodiments, N is related to the cache capacity of the first node, for example, N is equal to or less than the amount of first sensing result information that can be cached by the first node.

[0238] In some embodiments, the first information is used to indicate that the first node desires to report all or part of the N first perception result information. In some embodiments, the first information is used to indicate that abnormal perception result information exists. In some embodiments, the first information is used to request scheduling of transmission resources for all or part of the N first perception result information.

[0239] Optionally, the first information includes at least one of the following information:

[0240] Application-oriented perception results, where the application-oriented perception results are determined based on the N groups of perception signals;

[0241] Resource request information, where the resource request information is used to request the third transmission resource;

[0242] Information obtained based on at least one first perception result information among the N first perception result information.

[0243] In some embodiments, the application-oriented perception results may be understood as abnormal perception result information, such as information about a person or object falling, a moving object intruding, or the number of target objects.

[0244] In some embodiments, the resource request information is used to request the second node or the perception control node to schedule a third transmission resource, where the third transmission resource is used for the first node to send part or all of the N first perception result information. The resource request information can be a Scheduling Request (SR).

[0245] In some embodiments, information obtained based on (screening) at least one of the N first perception result information can be understood as abnormal perception result information. Exemplarily, abnormal perception result information includes: perception result information in which the value of the N first perception result information is lower than a first threshold; or perception result information in which the value of the N first perception result information is higher than a second threshold; or perception result information in which the degree of change in the value of the N first perception result information reaches a transition condition.

[0246] The first threshold, the second threshold, and the transition condition may be predefined, preconfigured, dynamically configured, or dynamically determined based on the N first perception result information. For example, the first threshold, the second threshold, and the transition condition may be determined based on an average value, a variance, or the like of the N first perception result information.

[0247] In some embodiments, the above-mentioned first information is also used to indicate the value of N, or the data volume of N first perception result information.

[0248] The second transmission resource is the transmission resource occupied by the first information. In some embodiments, the second transmission resource is preconfigured by the second node or the perception control node, or obtained by the first node through a request from the second node or the perception control node via SR, or selected by the first node from a preconfigured resource pool. This embodiment does not limit the configuration information of the second transmission resource.

[0249] In some embodiments, the N groups of sensing signals are the last N groups of sensing signals before the third time position. For example, if N=4, then the N groups of sensing signals are the last four groups of sensing signals before the third time position. The N pieces of first sensing result information are the last four pieces of first sensing result information before the third time position. Of course, at the beginning or end of the multiple groups of sensing signals, the first sensing result information obtained by the first node before the third time position may be fewer than the N pieces of first sensing result information.

[0250] Third time position:

[0251] In some embodiments, the third time position is any one of the following time positions:

[0252] The third time position is the time domain position of the transmission position of the first information (ie, the second transmission resource);

[0253] The third time position is the starting position of the second transmission resource in the time domain, or the third time position is the ending position of the second transmission resource in the time domain.

[0254] The third time position is determined based on the time domain position of the transmission position of the first information;

[0255] The third time position is determined based on the starting position of the second transmission resource in the time domain, or the third time position is determined based on the ending position of the second transmission resource in the time domain, or the third time position is determined based on the starting position and ending position of the second transmission resource in the time domain, such as the middle position between the starting position and the ending position.

[0256] Exemplarily, the third time position is a time position that is advanced by a time duration T from a time domain position of the second transmission resource. The duration T is predefined, preconfigured, or autonomously determined. The duration T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0257] The third time position is the transmission position of the resource configuration information of the second transmission resource;

[0258] The resource configuration information of the second transmission resource is used to configure the second transmission resource. The resource configuration information of the second transmission resource is sent by the second node to the first node, or the resource configuration information of the second transmission resource is sent by a perception control node different from the second node to the first node.

[0259] The third time position is determined based on the transmission position of the resource configuration information of the second transmission resource;

[0260] The third time position is determined based on the starting position of the transmission position of the resource configuration information of the second transmission resource in the time domain, or the third time position is determined based on the ending position of the transmission position of the resource configuration information of the second transmission resource in the time domain, or the third time position is determined based on the starting position and ending position of the transmission position of the resource configuration information of the second transmission resource in the time domain, such as the middle position between the starting position and the ending position.

[0261] Exemplarily, the third time position is a time position that is T time length ahead of the transmission position of the resource configuration information of the second transmission resource. The time length T is predefined, preconfigured, or autonomously determined. The time length T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0262] Step 704: When the scheduling information is received within the first time period, the first node uses the third transmission resource scheduled by the scheduling information to send part or all of the N first perception result information; or, when the third transmission resource is within the first time period, the first node uses the third transmission resource to send part or all of the N first perception result information;

[0263] The starting point of the first time period is the transmission location of the first information or is determined based on the transmission location of the first information. The starting point of the first time period is the starting location of the transmission location of the first information in the time domain, or the starting point of the first time period is the ending location of the transmission location of the first information in the time domain, or the starting point of the first information is the transmission location of the first information advanced by K time periods or delayed by K time periods. For example, K is based on the round-trip time (RTT) between the first node and the second node.

[0264] The length of the first time period may be preconfigured, dynamically configured by the second node or the perception control node, predefined by the communication protocol, or implemented autonomously.

[0265] Optionally, the scheduling information is used to schedule a third transmission resource, and the third transmission resource is used to transmit part or all of the N first perception result information.

[0266] In some embodiments, the scheduling information also carries an indication of the first perception result information that needs to be uploaded. Exemplarily, the scheduling information also carries an indication to upload all N first perception result information, or the scheduling information also carries an indication to upload M first perception result information, where M is a positive integer not greater than N, or the scheduling information is used to indicate the M first perception result information, or the scheduling information is used to indicate information for determining the M first perception result information from the N first perception result information. For example, the scheduling information carries a bitmap, and the bitmap is used to instruct the first node to determine the M first perception result information from the N first perception result information.

[0267] For example, the N first perception result information are first perception result information 1 to 4. When the bitmap is equal to 1010, it means that the M first perception result information are first perception result information 1 and first perception result information 3; when the bitmap is equal to 0011, it means that the M first perception result information are first perception result information 3 and first perception result information 4. That is, the bitmap includes N bits. When the i-th bit takes the first value (for example, 1), it means that the i-th first perception result information belongs to the M first perception result information; when the i-th bit takes the second value (for example, 0), it means that the i-th first perception result information does not belong to the M first perception result information.

[0268] In some embodiments, the M first perception result information to be uploaded is determined by the first node itself, for example, based on the amount of data that can be carried by the third transmission resource. In some embodiments, the first node selects from the N first perception result information based on a screening condition, where the screening condition is used to screen out first perception result information that meets the abnormal result.

[0269] Exemplarily, the first time period T1 is a time period starting from the starting position or the ending position of the second transmission resource or the starting position of the time unit in which the second transmission resource is located or the ending position of the time unit in which the second transmission resource is located. If the first node receives scheduling information within the first time period T1, or the transmission position (starting position or ending position) of the third transmission resource indicated by the scheduling information is within the first time period T1, the first node uses the third resource to transmit M first perception result information, where the M first perception result information includes at least one first perception result among the N first perception result information.

[0270] In some embodiments, when scheduling information is received after the first time period or when scheduling information is not received before the end of the first time period, the first node does not send part or all of the N first perception result information obtained based on the N groups of perception channels.

[0271] If the first node receives the scheduling information after the first time period T1, or does not receive the scheduling information before the end position of the first time period T1, or the transmission position (starting position or ending position) of the third transmission resource indicated by the scheduling information is after the first time period T1, the first node clears, releases, or discards part or all of the N first perception result information.

[0272] In some embodiments, the first node does not expect to receive scheduling information indicating transmission of at least one of the N first sensing result information outside the first time period T1. Alternatively, the first node does not expect the transmission resource (starting position or ending position) indicated by the scheduling information for transmission of at least one of the N first sensing result information to be outside the first time period T1.

[0273] Taking Figure 13 as an example, assume N = 2. After receiving sensing signal 3, the first node detects a sensing anomaly and transmits a first message. During a first time period T1, the first node must store first sensing result information 2 and 3 and wait for the sensing control node to send scheduling information instructing the transmission of first sensing result information 2 and 3. If first time period T1 is exceeded, the first node is no longer required to store first sensing result information 2 and 3. If newer first sensing result information is available, the older first sensing result information 2 and 3 can be cleared.

[0274] In summary, the method provided in this embodiment reports part or all of the N first perception result information only when there is an abnormality in the perception result, which can significantly reduce the resource overhead of the first node when reporting the perception result to the second node or the perception control node, improve system efficiency, and reduce the power consumption of the first node. In addition, a maximum waiting time (first time period) is set for reporting. If the second node or the perception control node does not schedule the first node within the waiting first time period, the first node will no longer be invited to store the previous perception result information, thereby avoiding memory usage caused by unlimited waiting and increasing the memory resource overhead or memory hardware cost of the first node.

[0275] FIG14 shows a flowchart of a method for receiving perception result information provided by an exemplary embodiment of the present application. This embodiment is illustrated by taking the method as being performed by a second node or a perception control node. The method includes:

[0276] Step 802: The second node or the perception control node receives first information sent by the first node using the second transmission resource, where the first information is sent by the first node after receiving N sets of perception information, where N is a positive integer.

[0277] The first node is a node participating in the perception measurement. Optionally, the first node is a perception signal receiving node. Optionally, the first node functions as both a perception signal sending node and a perception signal receiving node. This embodiment does not limit the role of the first node in the perception measurement process; it depends on the specific perception scenario.

[0278] A first node receives N groups of sensing signals and generates N pieces of first sensing result information based on the N groups of sensing signals. Each of the N groups of sensing signals includes at least one sensing signal, and the number of sensing signals in each group of sensing signals is the same or different. The N pieces of first sensing result information are obtained based on the N groups of sensing signals, where N is a positive integer greater than 1, and each of the N groups of sensing signals includes at least one sensing signal.

[0279] In some embodiments, the N groups of perception signals are sent at different time domain locations, or at least two groups of perception signals are sent at different time domain locations. Optionally, the N groups of perception signals are sent periodically, or the N groups of perception signals are sent aperiodically.

[0280] In some embodiments, the sensing sending node may send multiple sets of sensing signals. The first node obtains N first sensing result information based on the N sets of sensing signals. In some embodiments, N is related to the cache capacity of the first node, for example, N is equal to or less than the amount of first sensing result information that can be cached by the first node.

[0281] In some embodiments, the first information is used to indicate that the first node desires to report all or part of the N first perception result information. In some embodiments, the first information is used to indicate that abnormal perception result information exists. In some embodiments, the first information is used to request scheduling of transmission resources for all or part of the N first perception result information.

[0282] Optionally, the first information includes at least one of the following information:

[0283] Application-oriented perception results, where the application-oriented perception results are determined based on the N groups of perception signals;

[0284] Resource request information, where the resource request information is used to request the third transmission resource;

[0285] Information obtained based on at least one first perception result information among the N first perception result information.

[0286] In some embodiments, the application-oriented perception results may be understood as abnormal perception result information, such as information about a person or object falling, a moving object intruding, or the number of target objects.

[0287] In some embodiments, the resource request information is used to request the second node or the perception control node to schedule a third transmission resource, where the third transmission resource is used for the first node to send part or all of the N first perception result information. The resource request information may be a Scheduling Request (SR).

[0288] In some embodiments, information obtained based on (screening) at least one of the N first perception result information can be understood as abnormal perception result information. Exemplarily, abnormal perception result information includes: perception result information in which the value of the N first perception result information is lower than a first threshold; or perception result information in which the value of the N first perception result information is higher than a second threshold; or perception result information in which the degree of change in the value of the N first perception result information reaches a transition condition.

[0289] The first threshold, the second threshold, and the transition condition may be predefined, preconfigured, dynamically configured, or dynamically determined based on the N first perception result information. For example, the first threshold, the second threshold, and the transition condition may be determined based on an average value, a variance, or the like of the N first perception result information.

[0290] In some embodiments, the above-mentioned first information is also used to indicate the value of N, or the data volume of N first perception result information.

[0291] The second transmission resource is the transmission resource occupied by the first information. In some embodiments, the second transmission resource is preconfigured by the second node or the perception control node, or obtained by the first node through a request from the second node or the perception control node via SR, or selected by the first node from a preconfigured resource pool. This embodiment does not limit the configuration information of the second transmission resource.

[0292] In some embodiments, the N groups of sensing signals are the last N groups of sensing signals before the third time position. For example, if N=4, then the N groups of sensing signals are the last four groups of sensing signals before the third time position. The N pieces of first sensing result information are the last four pieces of first sensing result information before the third time position. Of course, at the beginning or end of the multiple groups of sensing signals, the first sensing result information obtained by the first node before the third time position may be fewer than the N pieces of first sensing result information.

[0293] Third time position:

[0294] In some embodiments, the third time position is any one of the following time positions:

[0295] The third time position is the time domain position of the transmission position of the first information (ie, the second transmission resource);

[0296] The third time position is the starting position of the second transmission resource in the time domain, or the third time position is the ending position of the second transmission resource in the time domain.

[0297] The third time position is determined based on the time domain position of the transmission position of the first information;

[0298] The third time position is determined based on the starting position of the second transmission resource in the time domain, or the third time position is determined based on the ending position of the second transmission resource in the time domain, or the third time position is determined based on the starting position and ending position of the second transmission resource in the time domain, such as the middle position between the starting position and the ending position.

[0299] Exemplarily, the third time position is a time position that is advanced by a time duration T from a time domain position of the second transmission resource. The duration T is predefined, preconfigured, or autonomously determined. The duration T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0300] The third time position is the transmission position of the resource configuration information of the second transmission resource;

[0301] The resource configuration information of the second transmission resource is used to configure the second transmission resource. The resource configuration information of the second transmission resource is sent by the second node to the first node, or the resource configuration information of the second transmission resource is sent by a perception control node different from the second node to the first node.

[0302] The third time position is determined based on the transmission position of the resource configuration information of the second transmission resource;

[0303] The third time position is determined based on the starting position of the transmission position of the resource configuration information of the second transmission resource in the time domain, or the third time position is determined based on the ending position of the transmission position of the resource configuration information of the second transmission resource in the time domain, or the third time position is determined based on the starting position and ending position of the transmission position of the resource configuration information of the second transmission resource in the time domain, such as the middle position between the starting position and the ending position.

[0304] Exemplarily, the third time position is a time position that is T time length ahead of the transmission position of the resource configuration information of the second transmission resource. The time length T is predefined, preconfigured, or autonomously determined. The time length T is related to a processing delay of the first node generating the perception result information based on the perception signal.

[0305] Step 804: The second node or the perception control node sends scheduling information to the first node, where the scheduling information is used to schedule a third transmission resource for the first node to send part or all of the N first perception result information. The scheduling information or the third transmission resource is within the first time period.

[0306] The starting point of the first time period is the transmission location of the first information or is determined based on the transmission location of the first information. The starting point of the first time period is the starting location of the transmission location of the first information in the time domain, or the starting point of the first time period is the ending location of the transmission location of the first information in the time domain, or the starting point of the first information is the transmission location of the first information advanced by K time periods or delayed by K time periods. For example, K is based on the round-trip time (RTT) between the first node and the second node.

[0307] The length of the first time period may be preconfigured, dynamically configured by the second node or the perception control node, predefined by the communication protocol, or implemented autonomously.

[0308] Optionally, the scheduling information is used to schedule a third transmission resource, and the third transmission resource is used to transmit part or all of the N first perception result information.

[0309] In some embodiments, the scheduling information also carries an indication of the first perception result information that needs to be uploaded. Exemplarily, the scheduling information also carries an indication to upload all N first perception result information, or the scheduling information also carries an indication to upload M first perception result information, where M is a positive integer not greater than N, or the scheduling information is used to indicate the M first perception result information, or the scheduling information is used to indicate information for determining the M first perception result information from the N first perception result information. For example, the scheduling information carries a bitmap, and the bitmap is used to instruct the first node to determine the M first perception result information from the N first perception result information.

[0310] For example, the N first perception result information are first perception result information 1 to 4. When the bitmap is equal to 1010, it means that the M first perception result information are first perception result information 1 and first perception result information 3; when the bitmap is equal to 0011, it means that the M first perception result information are first perception result information 3 and first perception result information 4. That is, the bitmap includes N bits. When the i-th bit takes the first value (for example, 1), it means that the i-th first perception result information belongs to the M first perception result information; when the i-th bit takes the second value (for example, 0), it means that the i-th first perception result information does not belong to the M first perception result information.

[0311] In some embodiments, the M first perception result information to be uploaded is determined by the first node itself, for example, based on the amount of data that can be carried by the third transmission resource. In some embodiments, the first node selects from the N first perception result information based on a screening condition, where the screening condition is used to screen out first perception result information that meets the abnormal result.

[0312] Exemplarily, the first time period T1 is a time period starting from the starting position or the ending position of the second transmission resource or the starting position of the time unit in which the second transmission resource is located or the ending position of the time unit in which the second transmission resource is located. If the first node receives scheduling information within the first time period T1, or the transmission position (starting position or ending position) of the third transmission resource indicated by the scheduling information is within the first time period T1, the first node uses the third resource to transmit M first perception result information, where the M first perception result information includes at least one first perception result among the N first perception result information.

[0313] In the case where scheduling information is received after the first time period or scheduling information is not received before the end position of the first time period, the first node does not send part or all of the N first sensing result information obtained based on the N groups of sensing channels.

[0314] If the first node receives the scheduling information after the first time period T1, or does not receive the scheduling information before the end position of the first time period T1, or the transmission position (starting position or ending position) of the third transmission resource indicated by the scheduling information is after the first time period T1, the first node clears, releases, or discards part or all of the N first perception result information.

[0315] In some embodiments, the first node does not expect to receive scheduling information indicating transmission of at least one of the N first sensing result information outside the first time period T1. Alternatively, the first node does not expect the transmission resource (starting position or ending position) indicated by the scheduling information for transmission of at least one of the N first sensing result information to be outside the first time period T1.

[0316] The second node or the perception control node receives part or all of the N first perception result information sent by the first node using the third transmission resource.

[0317] In summary, the method provided in this embodiment reports part or all of the N first perception result information only when there is an abnormality in the perception result, which can significantly reduce the resource overhead of the first node when reporting the perception result to the second node or the perception control node, improve system efficiency, and reduce the power consumption of the first node. In addition, a maximum waiting time (first time period) is set for reporting. If the second node or the perception control node does not schedule the first node within the waiting first time period, the first node will no longer be invited to store the previous perception result information, thereby avoiding memory usage caused by unlimited waiting and increasing the memory resource overhead or memory hardware cost of the first node.

[0318] FIG15 shows a block diagram of a device for sending perception result information provided by an exemplary embodiment of the present application. The device includes: a sending module 1520, a processing module 1540, and a receiving module 1560;

[0319] The sending module 1520 is configured to send M pieces of first perception result information using a first transmission resource;

[0320] The M first perception result information is obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of the M groups of perception signals includes at least one perception signal.

[0321] In a possible design of this embodiment, the M groups of sensing signals are the last M groups of sensing signals before the first time position;

[0322] The first time position is the time domain position of the first transmission resource; or,

[0323] The first time position is determined based on the time domain position of the first transmission resource; or,

[0324] The first time position is the transmission position of the indication information; or,

[0325] The first time position is determined based on the transmission position of the indication information;

[0326] The instruction information is used to instruct the device to send M first perception result information.

[0327] In a possible design of this embodiment, the processing module 1540 is used to obtain N first perception result information based on N groups of perception signals, where N is greater than or equal to M, and the N first perception result information includes M first perception result information.

[0328] In a possible design of this embodiment, the N groups of perception signals are the last N groups of perception signals before the second time position;

[0329] The second time position is the time domain position of the first transmission resource; or,

[0330] The second time position is the transmission position of the indication information; or,

[0331] The second time position is determined based on the time domain position of the first transmission resource; or,

[0332] The second time position is determined based on the transmission position of the indication information;

[0333] The instruction information is used to instruct the device to send M first perception result information.

[0334] In a possible design of this embodiment, the value of M is indicated by indication information, and / or information for determining M first perception result information from N first perception result information is indicated by indication information.

[0335] In a possible design of this embodiment, the receiving module 1560 is configured to receive configuration information, where the configuration information indicates at least one of the following information:

[0336] a first transmission resource;

[0337] The value of M.

[0338] In a possible design of this embodiment, the first perception result information includes at least one of the following information:

[0339] Characteristic quantity of the perceived signal;

[0340] Offset information or differential information of characteristic quantities of the perception signal;

[0341] Perceive the channel information experienced by the signal;

[0342] The offset information or differential information of the channel information experienced by the sensing signal;

[0343] Application-oriented perception results.

[0344] It should be noted that the apparatus in this embodiment is used to implement the corresponding steps performed by the first node in the above method embodiment. For details not described in detail in this embodiment, reference can be made to the details in the above method embodiment, and no further details will be given.

[0345] Figure 16 shows a block diagram of a device for sending perception result information provided by an exemplary embodiment of the present application. The device includes: a sending module 1620 and a receiving module 1660;

[0346] The sending module 1620 is configured to send the first information using the second transmission resource after the receiving module 1660 receives N groups of sensing signals, where N is a positive integer;

[0347] The sending module 1620 is configured to, when the receiving module 1660 receives the scheduling information within the first time period, cause the first node to use the third transmission resource scheduled by the scheduling information to send part or all of the N first perception result information; or, when the third transmission resource is within the first time period, cause the first node to use the third transmission resource to send part or all of the N first perception result information;

[0348] The starting point of the first time period is the transmission position of the first information or is determined based on the transmission position of the first information. The N first perception result information are obtained based on N groups of perception signals, and each group of perception signals in the N groups of perception signals includes at least one perception signal.

[0349] In one possible design of this embodiment, the first information includes at least one of the following information:

[0350] Application-oriented perception results: Application-oriented perception results are determined based on N groups of perception signals;

[0351] Resource request information, where the resource request information is used to request a third transmission resource;

[0352] Information obtained based on at least one first perception result information among N first perception result information.

[0353] In a possible design of this embodiment, the information obtained based on at least one first perception result information among the N first perception result information includes:

[0354] Perception result information whose value is lower than the first threshold among the N first perception result information; or

[0355] Perception result information whose value is higher than the second threshold value among the N first perception result information; or

[0356] Perception result information in which the degree of change of the numerical value in the N first perception result information reaches the jump condition.

[0357] In a possible design of this embodiment, the first information is also used to indicate the value of N.

[0358] In a possible design of this embodiment, the sending module 1620 is configured to not send part or all of the N first perception result information when the receiving module 1660 receives scheduling information after the first time period; or

[0359] The sending module 1620 is configured to not send part or all of the N first sensing result information if the receiving module 1660 does not receive the scheduling information before the first time period times out; or

[0360] The sending module 1620 is configured to not send part or all of the N first perception result information when the third transmission resource scheduled by the scheduling information is after the first time period.

[0361] In a possible design of this embodiment, the first perception result information includes at least one of the following information:

[0362] Characteristic quantity of the perceived signal;

[0363] Offset information or differential information of characteristic quantities of the perception signal;

[0364] Perceive the channel information experienced by the signal;

[0365] The offset information or differential information of the channel information experienced by the perception signal.

[0366] It should be noted that the apparatus in this embodiment is used to implement the corresponding steps performed by the first node in the above method embodiment. For details not described in detail in this embodiment, reference can be made to the details in the above method embodiment, and no further details will be given.

[0367] Figure 17 shows a block diagram of a device for receiving perception result information provided by an exemplary embodiment of the present application. The device includes: a receiving module 1720 and a sending module 1740;

[0368] The receiving module 1720 is configured to receive M pieces of first sensing result information sent by the first node using the first transmission resource;

[0369] The M first perception result information is obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of the M groups of perception signals includes at least one perception signal.

[0370] In a possible design of this embodiment, the M groups of sensing signals are the last M groups of sensing signals before the first time position;

[0371] The first time position is the time domain position of the first transmission resource; or,

[0372] The first time position is determined based on the time domain position of the first transmission resource; or,

[0373] The first time position is the transmission position of the indication information; or,

[0374] The first time position is determined based on the transmission position of the indication information;

[0375] The indication information is used to instruct the first node to send M first perception result information.

[0376] In a possible design of this embodiment, the sending module 1740 is configured to send N groups of perception signals, where N is greater than or equal to M, and the N groups of perception signals include M groups of perception signals.

[0377] In a possible design of this embodiment, the N groups of perception signals are the last N groups of perception signals before the second time position;

[0378] The second time position is the time domain position of the first transmission resource; or,

[0379] The second time position is the transmission position of the indication information; or,

[0380] The second time position is determined based on the time domain position of the first transmission resource; or,

[0381] The second time position is determined based on the transmission position of the indication information;

[0382] The indication information is used to instruct the first node to send M first perception result information.

[0383] In a possible design of this embodiment, the sending module 1740 is used to send indication information, and the indication information is also used to indicate the value of M, and / or the indication information is also used to indicate information for determining M first perception result information from N first perception result information.

[0384] In a possible design of this embodiment, the sending module 1740 is used to send configuration information, where the configuration information is used to indicate at least one of the following information: a first transmission resource; and a value of M.

[0385] In a possible design of this embodiment, the first perception result information includes at least one of the following information:

[0386] Characteristic quantity of the perceived signal;

[0387] Offset information or differential information of characteristic quantities of the perception signal;

[0388] Perceive the channel information experienced by the signal;

[0389] The offset information or differential information of the channel information experienced by the sensing signal;

[0390] Application-oriented perception results.

[0391] Figure 18 shows a block diagram of a device for receiving perception result information provided by an exemplary embodiment of the present application. The device includes: a receiving module 1820 and a sending module 1840;

[0392] The receiving module 1820 is configured to receive first information sent by the first node using the second transmission resource, where the first information is sent by the first node after receiving N groups of sensing signals, where N is a positive integer;

[0393] A sending module 1840 is configured to send scheduling information to the first node, where the scheduling information is used to schedule a third transmission resource for the first node to send part or all of the N first sensing result information; the scheduling information and / or the third transmission resource is located within the first time period;

[0394] The starting point of the first time period is the transmission position of the first information or is determined based on the transmission position of the first information. The N first perception result information are obtained based on N groups of perception signals, and each group of perception signals in the N groups of perception signals includes at least one perception signal.

[0395] In a possible design of this embodiment, the first information includes:

[0396] Application-oriented perception results: Application-oriented perception results are determined based on N groups of perception signals;

[0397] Resource request information, where the resource request information is used to request a third transmission resource;

[0398] Information obtained based on at least one first perception result information among N first perception result information.

[0399] In a possible design of this embodiment, the information obtained based on at least one first perception result information among the N first perception result information includes:

[0400] Perception result information whose value is lower than the first threshold among the N first perception result information; or

[0401] Perception result information whose value is higher than the second threshold value among the N first perception result information; or

[0402] Perception result information in which the degree of change of the numerical value in the N first perception result information reaches the jump condition.

[0403] In a possible design of this embodiment, the first information is also used to indicate the value of N.

[0404] In a possible design of this embodiment, the first perception result information includes at least one of the following information:

[0405] Characteristic quantity of the perceived signal;

[0406] Offset information or differential information of characteristic quantities of the perception signal;

[0407] Perceive the channel information experienced by the signal;

[0408] The offset information or differential information of the channel information experienced by the perception signal.

[0409] Figure 19 shows a structural diagram of a perception measurement device (first node or second node or perception sending node or perception receiving node or perception control node) provided by an exemplary embodiment of the present application. The communication device includes: a processor 101, a receiver 102, a transmitter 103, a memory 104 and a bus 105.

[0410] The processor 101 includes one or more processing cores. The processor 101 executes various functional applications and information processing by running software programs and modules.

[0411] The receiver 102 and the transmitter 103 may be implemented as a communication component, which may be a communication chip, and may be referred to as a transceiver.

[0412] The memory 104 is connected to the processor 101 via a bus 105 .

[0413] The memory 104 may be used to store at least one instruction, and the processor 101 may be used to execute the at least one instruction to implement each step in the above method embodiment.

[0414] In addition, the memory 104 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, and programmable read-only memory (PROM).

[0415] Among them, the processor and transceiver in the perception measurement device involved in the embodiments of the present application can execute the steps performed by the first node or the second node or the perception sending node or the perception receiving node or the perception control node in the methods shown in the above embodiments, which will not be repeated here.

[0416] In an exemplary embodiment, a computer-readable storage medium is also provided, in which at least one instruction, at least one program, code set or instruction set is stored. The at least one instruction, the at least one program, the code set or instruction set is loaded and executed by a processor to implement the method for sending perception result information or the method for receiving perception result information performed by a communication device provided in the above-mentioned various method embodiments.

[0417] In an exemplary embodiment, a chip is also provided, which includes a programmable logic circuit and / or program instructions. When the chip runs on a computer device, it is used to implement the method for sending perception result information or the method for receiving perception result information described in the above aspects.

[0418] In an exemplary embodiment, a computer program product is further provided. When the computer program product is executed on a processor of a computer device, the computer device executes the method for sending perception result information or the method for receiving perception result information described in the above aspects.

[0419] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0420] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for sending perception result information, characterized in that: The method comprises: The first node sends M first perception result information using the first transmission resource; The M first perception result information are obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of perception signals in the M groups of perception signals includes at least one perception signal.

2. The method according to claim 1, characterized in that The M groups of perception signals are the last M groups of perception signals before the first time position; The first time position is the time domain position of the first transmission resource; or, The first time position is determined based on the time domain position of the first transmission resource; or, The first time position is a transmission position of indication information; or, The first time position is determined based on the transmission position of the indication information; The indication information is used to instruct the first node to send the M first perception result information.

3. The method according to claim 1 or 2, characterized in that The method further comprises: The first node obtains N first perception result information based on N groups of perception signals, where N is greater than or equal to M, and the N first perception result information include the M first perception result information.

4. The method according to claim 3, characterized in that The N groups of perception signals are the last N groups of perception signals before the second time position; The second time position is the time domain position of the first transmission resource; or, The second time position is a transmission position of the indication information; or, The second time position is determined based on the time domain position of the first transmission resource; or, The second time position is determined based on the transmission position of the indication information; The indication information is used to instruct the first node to send the M first perception result information.

5. The method according to claim 4, characterized in that The value of M is indicated by the indication information.

6. The method according to claim 4, characterized in that The information for determining the M first perception result information from the N first perception result information is indicated by the indication information.

7. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The first node receives configuration information, where the configuration information is used to indicate at least one of the following information: the first transmission resource; The value of M.

8. The method according to any one of claims 1 to 7, characterized in that: The first perception result information includes at least one of the following information: Characteristic quantity of the perceived signal; offset information or difference information of the characteristic amount of the perception signal; Channel information experienced by the sensing signal; offset information or differential information of the channel information experienced by the sensing signal; Application-oriented perception results.

9. A method for sending perception result information, characterized in that: The method comprises: After receiving N groups of sensing signals, the first node uses the second transmission resource to send the first information, where N is a positive integer; When the scheduling information is received within the first time period, the first node uses the third transmission resource scheduled by the scheduling information to send part or all of the N first perception result information; or, when the third transmission resource is within the first time period, the first node uses the third transmission resource to send part or all of the N first perception result information; The starting point of the first time period is the transmission position of the first information or is determined based on the transmission position of the first information. The N first perception result information are obtained based on the N groups of perception signals, and each group of the N groups of perception signals includes at least one perception signal.

10. The method according to claim 9, characterized in that The first information includes at least one of the following information: an application-oriented perception result, wherein the application-oriented perception result is determined based on the N groups of perception signals; Resource request information, where the resource request information is used to request the third transmission resource; Information obtained based on at least one first perception result information among the N first perception result information.

11. The method according to claim 10, characterized in that The information obtained based on at least one first perception result information among the N first perception result information includes: Perception result information whose value among the N first perception result information is lower than the first threshold; or Perception result information whose value in the N first perception result information is higher than the second threshold; or Perception result information in which the degree of change of the numerical value in the N first perception result information reaches the jump condition.

12. The method according to any one of claims 9 to 11, characterized in that: The first information is used to indicate the value of N.

13. The method according to any one of claims 9 to 12, characterized in that: The method further comprises: In a case where the scheduling information is received after the first time period, the first node does not send part or all of the N first sensing result information; or If the scheduling information is not received before the first time period times out, the first node does not send part or all of the N first sensing result information; or In a case where the third transmission resource is after the first time period, the first node does not send part or all of the N first perception result information.

14. The method according to any one of claims 9 to 13, characterized in that: The first perception result information includes at least one of the following information: Characteristic quantity of the perceived signal; offset information or difference information of the characteristic amount of the perception signal; Channel information experienced by the sensing signal; The offset information or differential information of the channel information experienced by the perception signal.

15. A method for receiving perception result information, characterized in that: The method comprises: Receiving M first perception result information sent by the first node using the first transmission resource; The M first perception result information are obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of perception signals in the M groups of perception signals includes at least one perception signal.

16. The method according to claim 15, characterized in that The M groups of perception signals are the last M groups of perception signals before the first time position; The first time position is the time domain position of the first transmission resource; or, The first time position is determined based on the time domain position of the first transmission resource; or, The first time position is a transmission position of indication information; or, The first time position is determined based on the transmission position of the indication information; The indication information is used to instruct the first node to send the M first perception result information.

17. The method according to claim 15 or 16, characterized in that The method further comprises: N groups of perception signals are sent, where N is greater than or equal to M, and the N groups of perception signals include the M groups of perception signals.

18. The method according to claim 17, characterized in that The N groups of perception signals are the last N groups of perception signals before the second time position; The second time position is the time domain position of the first transmission resource; or, The second time position is a transmission position of the indication information; or, The second time position is determined based on the time domain position of the first transmission resource; or, The second time position is determined based on the transmission position of the indication information; The indication information is used to instruct the first node to send the M first perception result information.

19. The method according to claim 18, characterized in that The indication information is also used to indicate the value of M.

20. The method according to claim 18, wherein The indication information is further used to indicate information for determining the M first perception result information from the N first perception result information.

21. The method according to any one of claims 15 to 20, characterized in that The method further comprises: Send configuration information, where the configuration information is used to indicate at least one of the following information: the first transmission resource; The value of M.

22. The method according to any one of claims 15 to 21, characterized in that The first perception result information includes at least one of the following information: Characteristic quantity of the perceived signal; offset information or difference information of the characteristic amount of the perception signal; Channel information experienced by the sensing signal; offset information or differential information of the channel information experienced by the sensing signal; Application-oriented perception results.

23. A method for receiving perception result information, characterized in that: The method further comprises: receiving first information sent by the first node using the second transmission resource, where the first information is sent by the first node after receiving N groups of perception signals, where N is a positive integer; Sending scheduling information to the first node, where the scheduling information is used to schedule a third transmission resource for the first node to send part or all of the N first perception result information; the scheduling information and / or the third transmission resource are within a first time period; The starting point of the first time period is the transmission position of the first information or is determined based on the transmission position of the first information. The N first perception result information are obtained based on the N groups of perception signals, and each group of the N groups of perception signals includes at least one perception signal.

24. The method according to claim 23, wherein The first information includes: an application-oriented perception result, wherein the application-oriented perception result is determined based on the N groups of perception signals; Resource request information, where the resource request information is used to request the third transmission resource; Information obtained based on at least one first perception result information among the N first perception result information.

25. The method according to claim 24, characterized in that The information obtained based on at least one first perception result information among the N first perception result information includes: Perception result information whose value among the N first perception result information is lower than the first threshold; or Perception result information whose value in the N first perception result information is higher than the second threshold; or Perception result information in which the degree of change of the numerical value in the N first perception result information reaches the jump condition.

26. The method according to any one of claims 23 to 25, characterized in that The first information is used to indicate the value of N.

27. The method according to any one of claims 23 to 26, characterized in that The first perception result information includes at least one of the following information: Characteristic quantity of the perceived signal; offset information or difference information of the characteristic amount of the perception signal; Channel information experienced by the sensing signal; The offset information or differential information of the channel information experienced by the perception signal.

28. A device for sending perception result information, characterized in that: The device comprises: A sending module, using a first transmission resource to send M first perception result information; The M first perception result information are obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of perception signals in the M groups of perception signals includes at least one perception signal.

29. A device for sending perception result information, characterized in that: The device comprises: a sending module, configured to send the first information using the second transmission resource after the receiving module receives N groups of sensing signals, where N is a positive integer; The sending module is configured to, when the receiving module receives the scheduling information within the first time period, use the third transmission resource scheduled by the scheduling information to send part or all of the N first perception result information; or, when the third transmission resource is within the first time period, the first node uses the third transmission resource to send part or all of the N first perception result information; The starting point of the first time period is the transmission position of the second transmission resource or is determined based on the transmission position of the second transmission resource, the N first perception result information is obtained based on the N groups of perception signals, and each group of the N groups of perception signals includes at least one perception signal.

30. A device for receiving perception result information, characterized in that: The device comprises: A receiving module, configured to receive M first perception result information sent by the first node using the first transmission resource; The M first perception result information are obtained based on M groups of perception signals, M is a positive integer greater than 1, and each group of perception signals in the M groups of perception signals includes at least one perception signal.

31. A device for receiving perception result information, characterized in that: The device comprises: a receiving module, configured to receive first information sent by a first node using a second transmission resource, where the first information is sent by the first node after receiving N groups of perception signals, where N is a positive integer; A sending module, configured to send scheduling information to the first node, where the scheduling information is used to schedule a third transmission resource for the first node to send part or all of the N first perception result information; the scheduling information and / or the third transmission resource are within a first time period; The starting point of the first time period is the transmission position of the second transmission resource or is determined based on the transmission position of the second transmission resource, the N first perception result information is obtained based on the N groups of perception signals, and each group of the N groups of perception signals includes at least one perception signal.

32. A perception measurement device, characterized in that The perception measurement device includes: a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the perception measurement device to implement the method for sending perception result information according to any one of claims 1 to 14.

33. A perception measurement device, characterized in that The proxy response device includes: a processor and a memory, wherein the memory stores at least one program, and the at least one program is loaded and executed by the perception measurement device to implement the method for receiving perception result information according to any one of claims 15 to 27.

34. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one program, and the at least one program is loaded and executed by a computer device to implement the method for sending perception result information as described in any one of claims 1 to 14, and / or the method for receiving perception result information as described in any one of claims 15 to 27.

35. A computer program product, characterized in that The computer program product stores at least one program, and the at least one program is loaded and executed by a computer device to implement the method for sending perception result information as described in any one of claims 1 to 14, and / or the method for receiving perception result information as described in any one of claims 15 to 27.

36. A chip, characterized in that: The chip includes a programmable logic circuit or a program, and the device installed with the chip is used to implement the method for sending perception result information as described in any one of claims 1 to 14, and / or the method for receiving perception result information as described in any one of claims 15 to 27.

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