Perception method and related device

Abstract

The invention provides a sensing method and a related device. The method comprises the following steps: a control device receives a sensing request from a request device, wherein the sensing request comprises information for indicating a sensing object; the control device determines first beam information according to the information used for indicating the sensing object, wherein the first beam information is used for indicating a beam used for executing sensing for the sensing object; the control device sends first sensing control information to a first sensing device, the first sensing control information comprises the first beam information, and the first sensing device is used for executing sensing for the sensing object. Through the technical scheme provided by the invention, the sensing resource utilization rate can be improved, and diversified sensing precision requirements can be met.

Description

Technical Field

[0001] The present application relates to the field of perception technology, and in particular to a perception method and related devices. Background Art

[0002] Communication and perception fusion refers to the unification of communication and perception functions through signal joint design and hardware sharing. Perception refers to wireless perception technology based on communication systems. Wireless perception technology is a technology that transmits wireless signals to specific areas or specific objects and then processes the received wireless signals to obtain information about the area or object. The basic principle is to use the characteristics of wireless channels to obtain rich environmental information and realize basic perception applications.

[0003] Wireless communication networks naturally possess wireless perception capabilities. For example, base stations and terminals have both communication and perception capabilities, and can provide perception services for perception applications, playing a role in many fields such as intelligent transportation, drone supervision, railway perimeter safety inspection, smart homes, public safety, health monitoring, and environmental monitoring.

[0004] Current perception methods generally use network control base stations to execute general perception operation processes for specific locations or ranges, which is difficult to meet the different needs of different perception objects, resulting in limited perception accuracy and low resource utilization. Summary of the invention

[0005] The embodiments of the present application provide a perception method and related devices, which can improve the utilization rate of perception resources and meet diverse perception accuracy requirements.

[0006] In a first aspect, an embodiment of the present application provides a perception method, the method comprising:

[0007] The control device receives a sensing request from the requesting device, wherein the sensing request includes information indicating a sensing object;

[0008] The control device determines first beam information according to the information used to indicate the perception object, where the first beam information is used to indicate a beam used to perform perception on the perception object;

[0009] The control device sends first perception control information to a first perception device, where the first perception control information includes the first beam information, and the first perception device is used to perform perception on the perception object.

[0010] Through the above embodiment, the control device determines the first beam information for indicating the beam used for performing perception of the perception object according to the information for indicating the perception object, and the control device sends the first perception control information including the first beam information to the first perception device, so that the first perception device performs perception of the perception object according to the first beam information. Since the first beam information is dynamically determined for the perception object and is adapted to the perception object, it can be considered that when the first perception device performs perception of the perception object according to the first beam information, the perception resources used are adapted to the perception resources actually required by the perception object, which helps to avoid unnecessary waste of perception resources and improve the utilization rate of perception resources.

[0011] In addition, the first beam information can also reflect the perception accuracy. For example, if the beam width indicated by the first beam information is narrower, that is, the beam is more focused and the signal that can be generated is stronger, then it can be considered that the achievable perception accuracy is high; for another example, if the beam width indicated by the first beam information is wider, that is, the beam is more divergent and the signal that can be generated is weaker, then it can be considered that the achievable perception accuracy is high. Therefore, it can be considered that when the first perception device performs perception of the perception object according to the first beam information, the perception accuracy achieved is also compatible with the perception accuracy actually required by the perception object, which helps to solve the problem of limited perception accuracy and meet diverse perception accuracy requirements.

[0012] In combination with the first aspect, in some implementations of the first aspect, the first beam information includes beam width, or the first beam information includes beam width and beam direction.

[0013] Through the above implementation method, the first beam information can indicate the beam width, so that the first perception device can perform perception of the perception object according to the beam width indicated by the control device; the first beam information can also indicate the beam direction, so that the first perception device can also perform perception of the perception object according to the beam direction indicated by the control device.

[0014] In combination with the first aspect, in some implementations of the first aspect, the first perception control information also includes a perception type.

[0015] Through the above implementation, the first perception control information may also indicate a perception type, so that the first perception device may perform perception on the perception object according to the perception type indicated by the control device.

[0016] In combination with the first aspect, in some implementations of the first aspect, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0017] Through the above implementation, the perceived object can be indicated more accurately by using one or more of the identification of the perceived object, the perceived area information, and the perceived position information.

[0018] In combination with the first aspect, in some implementations of the first aspect, the first perception control information also includes perception accuracy information and / or perception time information.

[0019] Through the above implementation, the first perception control information can also indicate perception accuracy information and / or perception time information, so that the first perception device can perform perception for the perception object according to the perception accuracy information and / or perception time information indicated by the control device.

[0020] In combination with the first aspect, in some implementations of the first aspect, the first perception control information also includes a collaborative perception mode.

[0021] Through the above implementation, the first perception control information may also indicate a collaborative perception mode, which is used to instruct the first perception device and other perception devices to collaboratively perform perception of the perception object.

[0022] In combination with the first aspect, in some implementations of the first aspect, the method further includes:

[0023] The control device sends the first perception control information to the second perception device, and the second perception device is used to perform perception on the perception object.

[0024] Through the above implementation, the control device sends the first perception control information to the second perception device, so that the second perception device and the first perception device cooperate to perform perception on the perception object.

[0025] In combination with the first aspect, in some implementations of the first aspect, the method further includes:

[0026] The control device receives first perception data from the first perception device, where the first perception data is perception data obtained after the first perception device performs perception on the perception object according to the first beam information;

[0027] The control device processes the first perception data to obtain a first perception result;

[0028] The control device sends the first perception result to the requesting device.

[0029] Through the above implementation method, the control device receives the first perception data from the first perception device, processes the first perception data to obtain a first perception result, and sends the first perception result to the requesting device, so that the requesting party can promptly know the perception result about the perception object.

[0030] In combination with the first aspect, in some implementations of the first aspect, the method further includes:

[0031] The control device determines second beam information according to the first sensing result, where the second beam information is different from the first beam information;

[0032] The control device sends second perception control information to the first perception device, where the second perception control information includes the second beam information.

[0033] Through the above implementation method, the control device can adjust the first beam information according to the first perception result, obtain the second beam information, and send second perception control information containing the second beam information to the first perception device, so that the first perception device can subsequently perform perception operations according to the second beam information.

[0034] In combination with the first aspect, in certain implementations of the first aspect, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0035] Through the above implementation method, the control device supports the adjustment of the beam width. By reducing the beam width, the beam can be more focused and generate a stronger perception signal, thereby instructing the perception device to subsequently perform higher-precision perception operations, which can meet different accuracy requirements from regional perception to specific target perception.

[0036] In combination with the first aspect, in some implementations of the first aspect, the first sensing device is a base station, and the second sensing device is a base station or a terminal device.

[0037] In a second aspect, an embodiment of the present application provides a perception method, the method comprising:

[0038] The first sensing device receives first sensing control information from the control device, where the first sensing control information includes first beam information, where the first beam information is used to indicate a beam used to perform sensing of a sensing object;

[0039] The first sensing device performs sensing on the sensing object according to the first beam information.

[0040] In a third aspect, an embodiment of the present application provides a perception method, the method comprising:

[0041] The first sensing device receives first sensing control information from the control device, where the first sensing control information includes information indicating a sensing object;

[0042] The first sensing device determines first beam information according to the information used to indicate the sensing object, where the first beam information is used to indicate a beam used to perform sensing of the sensing object;

[0043] The first sensing device performs sensing on the sensing object according to the first beam information.

[0044] Through the above embodiment, the control device / first perception device determines the first beam information for indicating the beam used for performing perception of the perception object according to the information for indicating the perception object, and the control device sends the first perception control information to the first perception device, so that the first perception device performs perception of the perception object according to the first beam information. Since the first beam information is dynamically determined for the perception object and is adapted to the perception object, it can be considered that when the first perception device performs perception of the perception object according to the first beam information, the perception resources used are adapted to the perception resources actually required by the perception object, which helps to avoid unnecessary waste of perception resources and improve the utilization rate of perception resources.

[0045] In addition, the first beam information can also reflect the perception accuracy. For example, if the beam width indicated by the first beam information is narrower, that is, the beam is more focused and the signal that can be generated is stronger, then it can be considered that the achievable perception accuracy is high; for another example, if the beam width indicated by the first beam information is wider, that is, the beam is more divergent and the signal that can be generated is weaker, then it can be considered that the achievable perception accuracy is high. Therefore, it can be considered that when the first perception device performs perception of the perception object according to the first beam information, the perception accuracy achieved is also compatible with the perception accuracy actually required by the perception object, which helps to solve the problem of limited perception accuracy and meet diverse perception accuracy requirements.

[0046] In combination with the second / third aspect, in some implementations of the second / third aspect, the first beam information includes beam width, or the first beam information includes beam width and beam direction.

[0047] In combination with the second / third aspect, in some implementations of the second / third aspect, the first perception control information also includes a perception type.

[0048] In combination with the second / third aspect, in some implementations of the second / third aspect, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0049] In combination with the second / third aspect, in some implementations of the second / third aspect, the first perception control information also includes perception accuracy information and / or perception time information.

[0050] In combination with the second / third aspect, in some implementations of the second / third aspect, the first perception control information also includes a collaborative perception mode.

[0051] In combination with the second / third aspect, in some implementations of the second / third aspect, the method further includes:

[0052] The first sensing device sends indication information to the second sensing device, where the indication information includes the first beam information and the collaborative sensing mode, and the second sensing device is used to perform sensing for the sensing object.

[0053] Through the above implementation, the first perception device sends the indication information including the first beam information and the collaborative perception mode to the second perception device, so that the second perception device cooperates with the first perception device to perform perception on the perception object.

[0054] In combination with the second / third aspect, in some implementations of the second / third aspect, the method further includes:

[0055] The first sensing device receives second sensing control information from the control device, where the second sensing control information includes second beam information, where the second beam information is used to indicate a beam used to perform sensing for a sensing target, and the second beam information is different from the first beam information;

[0056] The first sensing device performs sensing for the sensing target according to the second beam information.

[0057] Through the above-mentioned implementation method, the control device can determine the second beam information based on the information used to indicate the perception target, that is, the control device can independently complete the determination of the second beam information, and carry the second beam information in the second perception control information to the first perception device, so that the first perception device can directly obtain the second beam information from the second perception control information, and then can perform perception for the perception target according to the second beam information.

[0058] In combination with the second / third aspect, in some implementations of the second / third aspect, the method further includes:

[0059] The first sensing device receives second sensing control information from the control device, where the second sensing control information includes information for indicating a sensing target;

[0060] The first sensing device determines second beam information according to the information used to indicate the sensing target, where the second beam information is used to indicate a beam used to perform sensing for the sensing target, and the second beam information is different from the first beam information;

[0061] The first sensing device performs sensing for the sensing target according to the second beam information.

[0062] Through the above implementation method, the control device sends information used to indicate the perception target to the first perception device, and the first perception device determines the second beam information based on the information used to indicate the perception target, that is, the control device and the first perception device can collaborate to complete the determination of the second beam information, and then the first perception device can perform perception of the perception target based on the second beam information.

[0063] In combination with the second / third aspect, in some implementations of the second / third aspect, the method further includes:

[0064] The first sensing device obtains information indicating a sensing target according to first sensing data, where the first sensing data is sensing data obtained after the first sensing device performs sensing on the sensing object according to the first beam information;

[0065] The first sensing device determines second beam information according to the information used to indicate the sensing target, where the second beam information is used to indicate a beam used to perform sensing for the sensing target, and the second beam information is different from the first beam information;

[0066] The first sensing device performs sensing for the sensing target according to the second beam information.

[0067] Through the above implementation method, the first perception device obtains information used to indicate the perception target based on the first perception data, and determines the second beam information based on the information used to indicate the perception target, that is, the first perception device can independently complete the determination of the second beam information, and then can perform perception for the perception target based on the second beam information.

[0068] In combination with the second / third aspect, in certain implementations of the second / third aspect, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0069] In combination with the second / third aspect, in some implementations of the second / third aspect, the first sensing device is a base station, and the second sensing device is a base station or a terminal device.

[0070] For the beneficial effects of the implementation methods not described in the above second / third aspects, please refer to the description of the beneficial effects in the corresponding implementation methods of the first aspect, and will not be repeated here.

[0071] In a fourth aspect, an embodiment of the present application provides a sensing device, the device comprising a module or unit for executing the method described in the first aspect or any possible implementation of the first aspect. The device comprises:

[0072] A transceiver unit, configured to receive a sensing request from a requesting device, wherein the sensing request includes information indicating a sensing object;

[0073] a processing unit, configured to determine first beam information according to the information used to indicate the perceived object, wherein the first beam information is used to indicate a beam used to perform perception of the perceived object;

[0074] The transceiver unit is further used to: send first perception control information to a first perception device, where the first perception control information includes the first beam information, and the first perception device is used to perform perception on the perception object.

[0075] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first beam information includes beam width, or the first beam information includes beam width and beam direction.

[0076] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first perception control information also includes a perception type.

[0077] In combination with the fourth aspect, in certain implementations of the fourth aspect, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perceived area information, and perceived location information.

[0078] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first perception control information also includes perception accuracy information and / or perception time information.

[0079] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first perception control information also includes a collaborative perception mode.

[0080] In combination with the fourth aspect, in some implementations of the fourth aspect, the transceiver unit is further used to: send the first perception control information to the second perception device, and the second perception device is used to perform perception on the perception object.

[0081] In combination with the fourth aspect, in certain implementations of the fourth aspect, the transceiver unit is also used to: receive first perception data from the first perception device, the first perception data being perception data obtained by the first perception device after performing perception of the perception object according to the first beam information; the processing unit is also used to: process the first perception data to obtain a first perception result; the transceiver unit is also used to: send the first perception result to the requesting device.

[0082] In combination with the fourth aspect, in certain implementations of the fourth aspect, the processing unit is also used to: determine second beam information based on the first perception result, and the second beam information is different from the first beam information; the transceiver unit is also used to: send second perception control information to the first perception device, and the second perception control information includes the second beam information.

[0083] In combination with the fourth aspect, in certain implementations of the fourth aspect, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0084] In a fifth aspect, an embodiment of the present application provides a sensing device, the device comprising a module or unit for executing the method described in the second aspect or any possible implementation of the second aspect. The device comprises:

[0085] A transceiver unit, configured to receive first perception control information from a control device, wherein the first perception control information includes first beam information, and the first beam information is used to indicate a beam used for performing perception of a perception object;

[0086] A processing unit is used to perform perception on the perceived object according to the first beam information.

[0087] In a sixth aspect, an embodiment of the present application provides a sensing device, the device comprising a module or unit for executing the method described in the third aspect or any possible implementation of the third aspect. The device comprises:

[0088] a transceiver unit, configured to receive first perception control information from a control device, wherein the first perception control information includes information for indicating a perception object;

[0089] A processing unit is used to determine first beam information based on the information used to indicate the perceived object, wherein the first beam information is used to indicate a beam used to perform perception of the perceived object; and perform perception of the perceived object based on the first beam information.

[0090] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the first beam information includes beam width, or the first beam information includes beam width and beam direction.

[0091] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the first perception control information also includes a perception type.

[0092] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the information used to indicate the perceived object includes one or more of the following information: an identification of the perceived object, perception area information, and perception location information.

[0093] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the first perception control information also includes perception accuracy information and / or perception time information.

[0094] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the first perception control information also includes a collaborative perception mode.

[0095] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the transceiver unit is also used to: send indication information to a second perception device, the indication information including the first beam information and the collaborative perception mode, and the second perception device is used to perform perception of the perception object.

[0096] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the transceiver unit is also used to: receive second perception control information from the control device, the second perception control information includes second beam information, the second beam information is used to indicate the beam used to perform perception of the perception target, and the second beam information is different from the first beam information; the processing unit is also used to: perform perception of the perception target according to the second beam information.

[0097] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the transceiver unit is also used to: receive second perception control information from the control device, the second perception control information including information for indicating a perception target; the processing unit is also used to: determine second beam information based on the information for indicating the perception target, the second beam information being used to indicate a beam used for performing perception of the perception target, the second beam information being different from the first beam information; and perform perception of the perception target based on the second beam information.

[0098] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the processing unit is further used to: obtain information for indicating a perception target based on first perception data, the first perception data being perception data obtained by the processing unit after performing perception of the perception object based on the first beam information; determine second beam information based on the information for indicating the perception target, the second beam information being used to indicate a beam used to perform perception of the perception target, the second beam information being different from the first beam information; and perform perception of the perception target based on the second beam information.

[0099] In combination with the fifth / sixth aspect, in certain implementations of the fifth / sixth aspect, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0100] In a seventh aspect, an embodiment of the present application provides an electronic device, the electronic device includes a processor, the processor is coupled to a memory, and can be used to execute a computer program or instruction in the memory to implement the method described in any aspect or any possible implementation of the first to third aspects above. Optionally, the electronic device also includes a memory. Optionally, the electronic device also includes a communication interface, and the processor is coupled to the communication interface.

[0101] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program or instructions are stored. When the computer program or instructions are executed, the method described in any aspect or any possible implementation method of the first to third aspects above is implemented.

[0102] In a ninth aspect, an embodiment of the present application provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed, the method described in any aspect or any possible implementation method of the first to third aspects above is implemented.

[0103] In a tenth aspect, an embodiment of the present application provides a chip, the chip including a processor, the processor being used to execute a computer program or instruction, when the processor executes the computer program or instruction, the chip executes the method described in any aspect or any possible implementation of the first to third aspects above. Optionally, the chip also includes a communication interface, the communication interface being used to receive or send a signal.

[0104] In the eleventh aspect, an embodiment of the present application provides a system, comprising an apparatus as described in the fourth aspect or any possible implementation of the fourth aspect, and an apparatus as described in the fifth / sixth aspect or any possible implementation of the fifth / sixth aspect.

[0105] In the twelfth aspect, an embodiment of the present application provides a system, comprising a control device and a first sensing device, wherein the control device is used to execute the method described in the first aspect or any possible implementation of the first aspect, and the first sensing device is used to execute the method described in the second / third aspect or any possible implementation of the second / third aspect.

[0106] The beneficial effects brought about by the fourth to twelfth aspects mentioned above can refer to the description of the beneficial effects in the first to third aspects, and will not be repeated here.

[0107] In addition, in the process of executing the method described in any one of the first to third aspects and any possible implementation methods, the process of sending information and / or receiving information in the above method can be understood as a process in which the processor outputs information, and / or a process in which the processor receives input information. When outputting information, the processor can output the information to the transceiver (or communication interface, or sending module) so that the transceiver can transmit it. After the information is output by the processor, it may also need to be processed in other ways before it reaches the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or sending module) receives the information and inputs it into the processor. Furthermore, after the transceiver receives the information, the information may need to be processed in other ways before it is input into the processor.

[0108] Based on the above principle, for example, the sending information mentioned in the above method can be understood as the processor outputting information. For another example, the receiving information can be understood as the processor receiving input information.

[0109] Optionally, for the operations of transmitting, sending and receiving involved in the processor, if there is no special explanation, or if they do not conflict with their actual functions or internal logic in the relevant description, they can be more generally understood as operations such as processor output, reception and input.

[0110] Optionally, in the process of executing the method described in any aspect of the first to third aspects and any possible implementation method, the processor may be a processor specifically used to execute these methods, or a processor that executes these methods by executing computer instructions in a memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or may be separately arranged on different chips. The embodiment of the present application does not limit the type of memory and the arrangement of the memory and the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0111] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. 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 creative work.

[0112] Figure 1 A schematic diagram of a network architecture provided for an embodiment of the present application;

[0113] Figure 2 A flow chart of a perception method provided in an embodiment of the present application;

[0114] Figure 3 A flow chart of another perception method provided in an embodiment of the present application;

[0115] Figure 4 A flow chart of another perception method provided in an embodiment of the present application;

[0116] Figure 5 A flow chart of another perception method provided in an embodiment of the present application;

[0117] Figure 6 A flow chart of a perception method provided in an embodiment of the present application;

[0118] Figure 7 A flow chart of another perception method provided in an embodiment of the present application;

[0119] Figure 8 A schematic diagram of the structure of a sensing device provided in an embodiment of the present application;

[0120] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0121] Fig.10 A schematic diagram of the structure of a chip provided in an embodiment of the present application. DETAILED DESCRIPTION

[0122] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0123] In this application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the words "exemplary" or "for example" is intended to present the related concepts in a concrete way.

[0124] The "first", "second", etc. mentioned in the embodiments of the present application are used to distinguish different objects, rather than to describe a specific order or quantity, and "first", "second", etc. are not limited to being different. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0125] The "embodiment" mentioned in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be explicitly and implicitly understood by those skilled in the art that in the various embodiments of the present application, if there is no special explanation and logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0126] It should be understood that in the present application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0127] In the description of this application, "indication" may include direct indication and indirect indication, and may also include explicit indication and implicit indication. The information indicated by a certain information is called information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated. For example, the information to be indicated may be directly indicated, such as indicating the information to be indicated itself or the index of the information to be indicated. For another example, the information to be indicated may also be indirectly indicated by indicating other information, and there is an association between the indicated other information and the information to be indicated. For another example, only a part of the information to be indicated may be indicated, while the other parts of the information to be indicated are known or agreed in advance. In addition, the indication of specific information may be achieved by means of the arrangement order of each information agreed in advance (such as specified in the protocol), thereby reducing the indication overhead to a certain extent.

[0128] See also Figure 1 , Figure 1 A network architecture diagram is provided for an embodiment of the present application, which involves a control device 101 and a perception device 102, and the number of the perception device 102 can be one or more. Optionally, the network architecture also involves a request device 103. The control device 101 can communicate with the perception device 102 to control the perception device 102 to perform perception of the perception object 104. The request device 103 can communicate with the control device 101 to initiate a perception request for the perception object 104 to the control device 101.

[0129] Among them, the control device 101 can be a functional network element in the network, such as a sensing control network element (sensing function, SF), or a chip or circuit in an access network device or a core network device, or a logic module or software that can realize all or part of the functions of the access network device or the core network device, and this application does not limit this. The control device 101 may include one or more of the following capabilities: sensing data processing, sensing result analysis, sensing type / mode determination, sensing device determination, and sensing physical resource configuration.

[0130] The perception device 102 may be an access network device, such as a radio access network (RAN) node, or a terminal device, or a chip or circuit in an access network device or a terminal device, or a logic module or software that can realize all or part of the functions of a terminal device or a network device, which is not limited in this application. The perception device 102 may include one or more of the following capabilities: perception measurement, perception data processing, perception result analysis, and perception type / mode determination.

[0131] The requesting device 103 may be a functional network element in the network, such as an access and mobility management function (AMF) or an application function (AF), or may be a terminal device.

[0132] In the above description, the access network equipment includes but is not limited to: base station, the next generation Node B (gNB), evolved Node B (eNB), radio network controller (RNC), Node B (NB), base station controller (BSC), base transceiver station (BTS), home evolved NodeB (HeNB, or homeNode B, HNB), baseband unit (BBU), server, wearable device, vehicle-mounted equipment, access point (AP) in wireless fidelity (WIFI) system, wireless relay node, wireless backhaul node, transmission point (TP) or transmission and reception point (TRP), etc., and can also be 5G, such as new wireless (new A base station may be a gNB, a TRP or a TP in a NR system, one or a group of antenna panels of a base station in a 5G system, or a network node constituting a gNB or a transmission point, such as a baseband unit (BBU) or a distributed unit (DU). A base station may be a macro base station, a micro base station, a pico base station, a small station, a relay station or a balloon station.

[0133] In some deployments, the gNB may include a centralized unit (CU) and a DU. The gNB may also include an active antenna unit (AAU). The CU implements some functions of the gNB, and the DU implements some functions of the gNB. For example, the CU is responsible for processing non-real-time protocols and services, and implementing the functions of the radio resource control (RRC) and packet data convergence protocol (PDCP) layers. The DU is responsible for processing physical layer protocols and real-time services, and implementing the functions of the radio link control (RLC) layer, the media access control (MAC) layer, and the physical (PHY) layer. The AAU implements some physical layer processing functions, RF processing, and related functions of active antennas. The information of the RRC layer is generated by the CU, and will eventually be encapsulated by the PHY layer of the DU to become the PHY layer information, or, it is converted from the PHY layer information. Therefore, in this architecture, high-level signaling such as RRC layer signaling can also be considered to be sent by the DU, or, sent by the DU+AAU. It is understandable that the network device may be a device including one or more of a CU node, a DU node, and an AAU node. In addition, the CU may be classified as a network device in an access network (radio access network, RAN), or the CU may be classified as a network device in a core network (core network, CN), which is not limited in this application.

[0134] Terminal equipment may also be referred to as: terminal, access terminal, user unit, user equipment (UE), user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, wireless communication device, user agent or user device. Terminal equipment is a device that includes wireless communication function (providing voice / data connectivity to users). For example, a handheld device with wireless connection function, or a vehicle-mounted device, etc. The terminal device in the embodiment of the present application can be a mobile phone, a tablet computer (pad), a computer with wireless transceiver function, a train, an airplane, a mobile Internet device (MID), a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control (such as a robot, etc.), a wireless terminal in the Internet of Vehicles (such as an on-board device, a whole vehicle device, an on-board module, a vehicle, etc.), a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a wireless communication device (such as a cellular phone, a wireless communication device ... assistant, PDA), handheld devices with wireless communication function, computing devices or other processing devices connected to a wireless modem, vehicle-mounted devices, wearable devices, terminals in the fifth generation (5th generation, 5G) network or terminals in future evolution networks, etc.

[0135] It should be understood that Figure 1 The network architecture shown is only an example, and the network architecture applicable to the embodiment of the present application is not limited to this. Any network architecture that can realize the functions of some or all of the above devices is applicable to the embodiment of the present application. Figure 1 Some of the equipment shown in Figure 1 The present application does not limit the devices not shown in the figure.

[0136] Taking the sensing device as a base station as an example, the following three sensing modes are introduced: base station spontaneous transmission and reception sensing, base station transmission and reception sensing, and UE transmission and base station reception sensing.

[0137] (1) Base station self-transmitting and self-receiving sensing: The base station remote radio unit (RRU) or base station (BS) uses the reflected / diffracted signals of its own transmitted communication signals for sensing. This sensing mode is applicable to systems where the sensing receiver and transmitter are co-deployed at the same location, such as a single-station radar, which requires the base station to have full-duplex capability or equivalent. Base station self-transmitting and self-receiving sensing enables the BS to sense its surrounding environment information. Since the transmitter and receiver are on the same platform, they can be easily synchronized at the clock level, and the sensing results can be clearly interpreted by the single base station node without the assistance of external equipment.

[0138] (2) Inter-base station transceiver sensing: One RRU uses the downlink communication signals received from other RRUs for sensing. This sensing mode can be applied to dual-station or multi-station radars, where the transmitter and receiver are separated in space and the clocks are required to be synchronized.

[0139] (3) UE-to-BS sensing: The BS uses the uplink communication signal sent from the UE transmitter for sensing. This sensing mode is similar to inter-BS sensing, where the transmitter and receiver are separated in space, but are asynchronous. Since the receiver has a complete understanding of the system protocol, signal structure, and the time when the sensing signal is sent in the UE-to-BS sensing, uplink sensing can be implemented directly without changing the hardware and network settings, and without requiring full-duplex operation. Relative rather than absolute time delays and Doppler frequencies are estimated during the sensing process. Since the clock / oscillator is separated in space, there is usually a deviation between the UE transmitter and the BS receiver. The ambiguity of the sensing quantity caused by the clock deviation between the transceivers can be resolved through relevant algorithms and techniques.

[0140] Optionally, the sensing device may also be a UE. Taking the sensing device as a UE as an example, the sensing mode may be base station sending and UE receiving sensing: the UE uses a downlink communication signal sent from a base station transmitter for sensing.

[0141] The following is an introduction to the perception method provided in the embodiments of the present application.

[0142] See also Figure 2 , Figure 2 A process interaction diagram of a perception method provided in an embodiment of the present application. Figure 2 The sensing method shown includes the following steps S201 to S204.

[0143] S201, a requesting device sends a perception request to a controlling device, and correspondingly, the controlling device receives the perception request from the requesting device.

[0144] The sensing request is used to request a sensing operation to be performed on a sensing object. The sensing request includes information indicating the sensing object, which is the object to which the sensing operation is directed. Exemplarily, the sensing object may be an area or a specific object.

[0145] In one embodiment, the information indicating the perceived object includes an identifier of the perceived object. The identifier refers to information that can characterize the identity of the perceived object, and the identifier can be used to determine which perceived object to perceive. Exemplarily, the identifier of the perceived object can be the name or geographic location of the perceived object, or other information that can locate the perceived object, such as an identity identifier (ID) configured for the perceived object.

[0146] In another embodiment, the information used to indicate the perception object includes perception area information. The perception area information is used to indicate the perception area. In this case, the perception object is the perception area. The perception area here can be understood as an area with a certain range, such as a residential area, a park area, a high-speed rail area, etc. The perception area information can be used to determine which perception area to be perceived. Exemplarily, the perception area information can include the name or geographical location of the perception area, and can also include the range of the perception area itself or the requested perception range.

[0147] In another embodiment, the information used to indicate the perceived object includes perceived position information. The perceived position information is used to indicate the perceived target, in which case the perceived object is the perceived target, where the perceived target can be understood as a specific object, which can be a static object, such as a traffic light, or a dynamic object, such as a drone. The perceived position information can be used to determine which perceived target to perceive. Exemplarily, the perceived position information can include the geographic location of the perceived target, and can also include the perceived target's own size or the requested perception range.

[0148] S202: The control device determines first beam information according to information indicating the perceived object.

[0149] After receiving the perception request, the control device obtains information indicating the perception object therefrom, and determines the first beam information according to the information indicating the perception object.

[0150] The first beam information is used to indicate the beam used to perform perception of the perception object. The first beam information determined by the control device according to the information used to indicate the perception object can be understood as being adapted to the perception object, and the first beam information corresponding to different perception objects can be the same or different.

[0151] In one embodiment, the first beam information includes beam width. The beam width refers to the angle between two directions where the radiation power drops by 3 dB on both sides of the maximum radiation direction.

[0152] In a possible implementation, the control device determines the object type to which the perception object belongs according to the information indicating the perception object, and then obtains the beam width used for perception of the perception object according to the object type to which the perception object belongs and the mapping relationship between the object type and the beam width. The mapping relationship between the object type and the beam width may be predefined or preconfigured.

[0153] In a possible implementation, the control device may obtain the size of the perceived object according to the information indicating the perceived object, and then determine the object type to which the perceived object belongs according to the size of the perceived object. It should be understood that if the perceived object is a perception area, the size of the perceived object may refer to the range size of the perception area; if the perceived object is a perception target, the size of the perceived object may refer to the size of the perception target.

[0154] In one example, a segmentation threshold may be set to divide the perceived object into two object types, a first perceived object and a second perceived object, wherein the size of the first perceived object is greater than or equal to the segmentation threshold, and the size of the second perceived object is less than the segmentation threshold. Different object types correspond to different beam widths. For example, the first perceived object corresponds to a wide beam, and the width of the wide beam may be a certain specific width or a certain width range; the second perceived object corresponds to a narrow beam, and the width of the narrow beam may be a certain specific width or a certain width range. The width of the wide beam is greater than the width of the narrow beam.

[0155] Accordingly, after the control device obtains the size of the perceived object, it can compare the size of the perceived object with the above-mentioned segmentation threshold. If the size of the perceived object is greater than or equal to the segmentation threshold, the control device determines that the object type to which the perceived object belongs is a first perceived object, and then determines that the beam used for perception of the perceived object is a wide beam; if the size of the perceived object is less than the segmentation threshold, the control device determines that the object type to which the perceived object belongs is a second perceived object, and then determines that the beam used for perception of the perceived object is a narrow beam.

[0156] It should be understood that the above two object types are just an example. In other examples, the perceived objects can be divided into more object types. For example, the perceived objects can be divided into three object types: first perceived objects, second perceived objects, and third perceived objects, wherein the size of the first perceived object is within a first preset range, the size of the second perceived object is within a second preset range, and the size of the third perceived object is within a third preset range. This application does not limit this.

[0157] In a possible implementation, the information indicating the perceived object may further include object type indication information, which is used to indicate the object type to which the perceived object belongs. The control device may determine the object type to which the perceived object belongs according to the object type indication information.

[0158] In one example, the object type indication information may indicate two object types, namely, a sensing area and a sensing target. Different object types correspond to different beam widths. For example, a sensing area corresponds to a wide beam, and the width of the wide beam may be a certain specific width or a certain width range; a sensing target corresponds to a narrow beam, and the width of the narrow beam may be a certain specific width or a certain width range. The width of the wide beam is greater than the width of the narrow beam.

[0159] Accordingly, after the control device obtains the information used to indicate the perceived object, it can identify the object type indication information therein. If the object type indication information indicates the perception area, the control device determines that the object type to which the perceived object belongs is the perception area, and then determines that the beam used for perception of the perceived object is a wide beam; if the size of the perceived object is smaller than the segmentation threshold, the control device determines that the object type to which the perceived object belongs is a second perception object, and then determines that the beam used for perception of the perceived object is a narrow beam.

[0160] It should be understood that the above two object types are just an example. In other examples, the object type indication information can also indicate more object types. For example, the object type indication information can indicate four object types: a first perception area, a second perception area, a first perception target, and a second perception target. This application does not limit this.

[0161] In one embodiment, the first beam information also includes a beam direction. The control device can obtain the position of the sensing object according to the information indicating the sensing object, and then determine the beam direction according to the position of the sensing object so that the range of the beam can cover the sensing object.

[0162] S203: The control device sends first perception control information to the first perception device, and correspondingly, the first perception device receives the first perception control information from the control device.

[0163] The first perception control information includes first beam information. The first perception control information is used to instruct the first perception device to perform perception on the perception object according to the first beam information. The first perception device refers to a device capable of performing perception on the perception object, and it should be understood that the signal of the first perception device can cover the perception object.

[0164] Before sending the first perception control information to the first perception device, the control device may first determine the first perception device. Specifically, each perception device in the network may be used as a candidate perception device, and the control device may select a device capable of performing perception of the perception object from all candidate perception devices as the first perception device.

[0165] In a possible implementation, each candidate sensing device may report sensing capability information to the control device, and the sensing capability information includes information indicating an area that the candidate sensing device can sense, and the area that the candidate sensing device can sense may also be understood as a signal coverage area of ​​the candidate sensing device. The control device may obtain the location of the sensing object based on the information indicating the sensing object, and then determine which candidate sensing devices have signal coverage areas where the location of the sensing object is located, and then select one of the candidate sensing devices as the first sensing device.

[0166] Optionally, the perception capability information may also include information for indicating the beams supported by the candidate perception devices. After determining which candidate perception devices' signal coverage areas include the location of the perception object, the control device may further determine which of these candidate perception devices support beams that can meet the requirements of the first beam information, and then select one from the candidate perception devices that meet the requirements as the first perception device.

[0167] In one embodiment, the first perception control information also includes a perception type, and the perception type is used to indicate the perception type used to perform perception on the perception object. Accordingly, the first perception control information is also used to instruct the first perception device to perform perception on the perception object according to the perception type. Exemplarily, the perception type can be scanning perception or tracking perception. Scanning perception refers to the process of continuously sending perception signals to a certain area range to obtain regional physical characteristic parameters. Tracking perception refers to the process of performing perception measurement on a specific target object.

[0168] In a possible implementation, the perception type is related to the size of the perception object. After the control device obtains the size of the perception object, it can determine the perception type used for the perception of the perception object according to the size of the perception object and the mapping relationship between the object size and the perception type. The mapping relationship between the object size and the perception type can be predefined or preconfigured.

[0169] For example, a size threshold may be set. If the object size is greater than or equal to the size threshold, the perception type corresponding to the object size is scanning perception; if the object size is less than the size threshold, the perception type corresponding to the object size is tracking perception.

[0170] Accordingly, after the control device obtains the size of the perceived object, it can compare the size of the perceived object with the above-mentioned size threshold. If the size of the perceived object is greater than or equal to the size threshold, the control device determines that the perception type used for perception of the perceived object is scanning perception; if the size of the perceived object is less than the size threshold, the control device determines that the perception type used for perception of the perceived object is tracking perception.

[0171] In a possible implementation, the perception type is related to the object type to which the perception object belongs. After the control device determines the object type to which the perception object belongs, the control device can determine the perception type used for perception of the perception object according to the object type to which the perception object belongs and the mapping relationship between the object type and the perception type. The mapping relationship between the object type and the perception type can be predefined or preconfigured.

[0172] For example, the perception type corresponding to the perception area is scanning perception, and the perception type corresponding to the perception target is tracking perception. Accordingly, if the object type to which the perception object belongs is the perception area, the control device determines that the perception type used for the perception of the perception object is scanning perception; if the object type to which the perception object belongs is the perception target, the control device determines that the perception type used for the perception of the perception object is tracking perception.

[0173] In a possible implementation, the perception type is related to the first beam information. After the control device determines the first beam information, the perception type used for the perception of the perception object can be obtained according to the first beam information and the mapping relationship between the beam information and the perception type. The mapping relationship between the beam information and the perception type can be predefined or preconfigured.

[0174] For example, a width threshold can be set. If the beam width indicated by the beam information is greater than or equal to the width threshold, the perception type corresponding to the beam information is scanning perception; if the beam width indicated by the beam information is less than the width threshold, the perception type corresponding to the beam information is tracking perception.

[0175] Accordingly, after the control device determines the first beam information, it can compare the beam width indicated by the first beam information with the above-mentioned width threshold. If the beam width indicated by the first beam information is greater than or equal to the width threshold, the control device determines that the perception type used for the perception of the perceived object is scanning perception; if the beam width indicated by the first beam information is less than the width threshold, the control device determines that the perception type used for the perception of the perceived object is tracking perception.

[0176] In one embodiment, the first perception control information further includes perception accuracy information. The perception accuracy information is used to indicate the accuracy required for performing perception of the perception object, such as resolution, refresh rate, probability of not detecting an object, false alarm rate, etc. Accordingly, the first perception control information is also used to instruct the first perception device to perform perception of the perception object according to the perception accuracy information.

[0177] In a possible implementation, the perception accuracy information may be determined by a control device. Specifically, the control device may determine the accuracy required for performing perception on the perception object based on the information indicating the perception object.

[0178] In a possible implementation, the perception accuracy information is related to the size of the perception object. The control device may obtain the size of the perception object according to the information indicating the perception object, and then determine the accuracy required for perception of the perception object according to the size of the perception object and the mapping relationship between the object size and the perception accuracy information. The mapping relationship between the object size and the perception accuracy information may be predefined or preconfigured.

[0179] Exemplarily, if the size of the perceived object is larger, the accuracy indicated by the corresponding perception accuracy information may be lower; if the size of the perceived object is smaller, the accuracy indicated by the corresponding perception accuracy information may be higher.

[0180] In a possible implementation, the perception accuracy information is related to the object type to which the perception object belongs. The control device may obtain the object type to which the perception object belongs according to the information used to indicate the perception object, and then determine the accuracy required for performing perception on the perception object according to the object type to which the perception object belongs and the mapping relationship between the object type and the perception accuracy information. The mapping relationship between the object type and the perception accuracy information may be predefined or preconfigured.

[0181] Exemplarily, if the object type to which the perceived object belongs is a perception area, the accuracy indicated by the corresponding perception accuracy information may be lower; if the object type to which the perceived object belongs is a perception target, the required perception accuracy may be higher.

[0182] In a possible implementation, the perception accuracy information may be determined by the requester. Specifically, the requester may determine the perception accuracy information according to business requirements, and carry the perception accuracy information in the perception request to send to the control device, so that the control device may directly obtain the perception accuracy information from the perception request.

[0183] In one embodiment, the first perception control information further includes perception time information. The perception time information is used to indicate the time when the perception of the perception object is performed, for example, at what time point or time period the perception of the perception object is performed. Accordingly, the first perception control information is also used to instruct the first perception device to perform the perception of the perception object according to the perception time information.

[0184] In a possible implementation, the perception time information may be determined by the control device. For example, the control device may instruct the first perception device to perform perception of the perception object within a preset time after the control device sends the first perception control information.

[0185] In a possible implementation, the perception time information may be determined by the requester. Specifically, the requester may determine the perception time information according to business requirements, and send the perception time information to the control device by carrying it in the perception request, so that the control device may directly obtain the perception time information from the perception request.

[0186] It can be understood that the information contained in the first perception control information is not limited to the information described in the above embodiments. In other embodiments, the first perception control information may also contain more information. Exemplarily, the first perception control information also includes perception signal configuration information, such as signal frequency, signal strength, etc. This application does not limit this.

[0187] S204: The first perception device performs perception on the perception object according to the first beam information.

[0188] After receiving the first perception control information, the first perception device obtains first beam information therefrom, and performs perception on the perception object according to the first beam information.

[0189] It can be understood that when the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device also performs perception on the perception object according to the perception type, and / or the perception accuracy information, and / or the perception time information.

[0190] Through the above embodiment, the control device determines the first beam information for indicating the beam used for performing perception of the perception object according to the information for indicating the perception object, and the control device sends the first perception control information including the first beam information to the first perception device, so that the first perception device performs perception of the perception object according to the first beam information. Since the first beam information is dynamically determined for the perception object and is adapted to the perception object, it can be considered that when the first perception device performs perception of the perception object according to the first beam information, the perception resources used are adapted to the perception resources actually required by the perception object, which helps to avoid unnecessary waste of perception resources and improve the utilization rate of perception resources.

[0191] In addition, the first beam information can also reflect the perception accuracy. For example, if the beam width indicated by the first beam information is narrower, that is, the beam is more focused and the signal that can be generated is stronger, then it can be considered that the achievable perception accuracy is high; for another example, if the beam width indicated by the first beam information is wider, that is, the beam is more divergent and the signal that can be generated is weaker, then it can be considered that the achievable perception accuracy is high. Therefore, it can be considered that when the first perception device performs perception of the perception object according to the first beam information, the perception accuracy achieved is also compatible with the perception accuracy actually required by the perception object, which helps to solve the problem of limited perception accuracy and meet diverse perception accuracy requirements.

[0192] Optionally, Figure 2 The sensing method shown also includes the following steps S205 to S207.

[0193] S205: The first perception device sends first perception data to the control device, and correspondingly, the control device receives the first perception data from the first perception device.

[0194] The first perception data is the perception data obtained after the first perception device performs perception on the perception object according to the first beam information. Specifically, the first perception device transmits wireless signal data to the perception object according to the first beam information, and receives the reflected wireless signal data, thereby obtaining the first perception data.

[0195] S206: The control device processes the first perception data to obtain a first perception result.

[0196] The first perception data includes physical characteristic parameters of the wireless signal. The control device may process the first perception data by identifying these physical characteristic parameters to obtain a first perception result.

[0197] In one example, the perception object is a perception area, and the control device can identify whether these physical characteristic parameters represent a specific object (ie, a perception target), and the first perception result obtained thereby can reflect the situation of the perception target in the perception area.

[0198] For example, if these physical characteristic parameters are identified to represent a certain perceived target, it can be considered that there is a perceived target in the perceived area, and the corresponding first perception result indicates that the perceived target is detected. The first perception result includes information for indicating the perceived target, and the information for indicating the perceived target may include information for indicating that the perceived target is detected, and may also include information such as the target type, attribute, position, and size of the perceived target.

[0199] For another example, if it is identified that these physical characteristic parameters cannot characterize the perceived target, it can be considered that there is no perceived target in the perception area, and the corresponding first perception result indicates that the perceived target is not detected.

[0200] In another example, the sensing object is a sensing target, and the control device can identify the state information of the sensing target according to the physical characteristic parameters, and the first sensing result obtained thereby can reflect the state change of the sensing target. For example, if the sensing target is a drone, the corresponding first sensing result can indicate the running track of the drone.

[0201] S207: The control device sends the first perception result to the requesting device, and correspondingly, the requesting device receives the first perception result from the control device.

[0202] After obtaining the first perception result, the control device sends the first perception result to the requesting device so that the requesting party can timely learn the perception result about the perception object.

[0203] Optionally, Figure 2 The sensing method shown also includes the following steps S208 to S210.

[0204] S208: The control device determines second beam information according to the first perception result.

[0205] In one embodiment, the sensing object is a sensing area (denoted as X), and the first sensing device performs sensing for the sensing area X according to the first beam information to obtain first sensing data. The control device processes the first sensing data to obtain a first sensing result. When the first sensing result indicates that a sensing target (denoted as Z) is detected in the sensing area X, the control device determines the second beam information according to the first sensing result.

[0206] The second beam information is used to indicate the beam used to perform the perception of the perception target Z. The second beam information is different from the first beam information.

[0207] In one embodiment, the first beam information includes a first beam width (denoted as W1), and the first beam width W1 refers to the beam width used for performing perception for the perception area X. The second beam information includes a second beam width (denoted as W2), and the second beam width W2 refers to the beam width used for performing perception for the perception target Z. The second beam width W2 is smaller than the first beam width W1.

[0208] Accordingly, when the control device detects a perception target within the perception area, it supports adjustment of the beam width. By reducing the beam width, the beam can be made more focused and a stronger perception signal can be generated, thereby instructing subsequent higher-precision perception of the perception target, and being able to meet different accuracy requirements from regional perception to specific target perception.

[0209] The first perception result includes information for indicating the perception target, and the control device determines the second beam information according to the first perception result, and specifically, the second beam information can be determined according to the information for indicating the perception target. The second beam information determined by the control device according to the information for indicating the perception target can be understood as being adapted to the perception target, and the second beam information corresponding to different perception targets can be the same or different.

[0210] In a possible implementation, the control device may obtain the target type to which the perception target belongs according to the information indicating the perception target, and then obtain the beam width used for perception of the perception target according to the target type to which the perception target belongs and the mapping relationship between the target type and the beam width. The mapping relationship between the target type and the beam width may be predefined or preconfigured.

[0211] In one example, the target type can be used to characterize what kind of object it is. For example, if the sensed target is a drone, then the target type to which the sensed target belongs is a drone. The beam widths corresponding to different target types can be the same or different.

[0212] It should be understood that the target type can also be determined by other methods, which are not limited in this application. Exemplarily, the target type can also be determined according to the size of the perceived target. For example, if the size of the perceived target is within a preset first size range, the target type to which the perceived target belongs is the first target type; if the size of the perceived target is within a preset second size range, the target type to which the perceived target belongs is the second target type.

[0213] In one embodiment, the second beam information also includes a beam direction. The control device can obtain the position of the sensing target according to the information indicating the sensing target, and then determine the beam direction according to the position of the sensing target so that the range of the beam can cover the sensing target.

[0214] S209: The control device sends second perception control information to the first perception device, and correspondingly, the first perception device receives the second perception control information from the control device.

[0215] The second sensing control information includes second beam information. The second sensing control information is used to instruct the first sensing device to perform sensing for a sensing target according to the second beam information.

[0216] In one embodiment, the second sensing control information further includes a sensing type, and the sensing type is used to indicate a sensing type used to perform sensing for a sensing target. Accordingly, the second sensing control information is also used to instruct the first sensing device to perform sensing for the sensing target according to the sensing type.

[0217] In a possible implementation manner, the perception type in the first perception control information is scanning perception, and the perception type in the second perception control information is tracking perception.

[0218] Accordingly, when the control device detects a perception target within the perception area, it also supports adjustment of the perception type. By adjusting the perception type from scanning perception to tracking perception, it can instruct to track the target after detecting the target, thereby meeting the business needs of target intrusion detection and tracking within a certain area.

[0219] In one embodiment, the second perception control information further includes perception accuracy information. The perception accuracy information is used to indicate the accuracy required for performing perception for the perception target, such as resolution, refresh rate, probability of not detecting an object, false alarm rate, etc. Correspondingly, the second perception control information is also used to instruct the first perception device to perform perception for the perception target according to the perception accuracy information.

[0220] In one embodiment, the second perception control information further includes perception time information. The perception time information is used to indicate the time when perception of the perception target is performed, for example, at what time point or time period the perception of the perception target is performed. Accordingly, the second perception control information is also used to instruct the first perception device to perform perception of the perception target according to the perception time information.

[0221] It should be understood that for the above-mentioned perceived time information and the specific description of the perceived time information, reference can be made to the relevant description in the previous embodiments, and will not be repeated here.

[0222] S210: The first sensing device performs sensing for a sensing target according to the second beam information.

[0223] After receiving the second perception control information, the first perception device obtains second beam information therefrom, and performs perception on the perception target according to the second beam information.

[0224] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device also performs perception for the perception target according to the perception type, and / or the perception accuracy information, and / or the perception time information.

[0225] Optionally, Figure 2 The sensing method shown also includes the following steps S211 to S213.

[0226] S211, the first perception device sends second perception data to the control device, and correspondingly, the control device receives the second perception data from the first perception device.

[0227] The second perception data is the perception data obtained after the first perception device performs perception on the perception target according to the second beam information. Specifically, the first perception device transmits wireless signal data to the perception target according to the second beam information, and receives the reflected wireless signal data, thereby obtaining the second perception data.

[0228] S212, the control device processes the second perception data to obtain a second perception result.

[0229] The control device can identify the state information of the perceived target according to the second perception data, and the second perception result obtained thereby can reflect the state change of the perceived target. For example, if the perceived target is a drone, the corresponding second perception result can indicate the running track of the drone. For another example, if the perceived target is a traffic light, the corresponding second perception result can indicate the color change of the traffic light.

[0230] S213: The control device sends the second perception result to the requesting device, and correspondingly, the requesting device receives the second perception result from the control device.

[0231] After obtaining the second perception result, the control device sends the second perception result to the requesting device so that the requesting party can timely learn the perception result about the perception target.

[0232] Based on the above scheme, the control device can first instruct the first perception device to use a wider beam to perform scanning perception within a certain area, and perform target identification on the scanning perception data obtained by the first perception device. When the perception target is identified, the control device can adjust the beam width and perception type, and then instruct the first perception device to use a narrower beam to track and perceive the perception target. This can achieve efficient scanning perception and high-precision tracking perception, thereby meeting the perception requirements of two different stages of target detection and target tracking, and can improve the utilization rate of perception resources.

[0233] Optionally, the first sensing device is a base station, and the above solution is applicable to sensing services in a base station self-transmitting and self-receiving sensing mode, such as target intrusion detection and tracking.

[0234] See also Figure 3 , Figure 3 A flow chart of another perception method provided in an embodiment of the present application. Figure 3 The sensing method shown includes the following steps S301 to S303.

[0235] S301: A control device sends first perception control information to a first perception device, and correspondingly, the first perception device receives the first perception control information from the control device.

[0236] The first perception control information includes information for indicating a perception object. Optionally, the first perception control information also includes a perception type, and / or perception accuracy information, and / or perception time information.

[0237] It should be understood that for the specific description of the information used to indicate the perceived object, the perception type, the perception accuracy information, and the perception time information, reference can be made to the relevant description in the previous embodiments, and no further details will be given here.

[0238] It should be noted that the execution subject for determining the perception type, perception accuracy information or perception time information is not limited to the control device or requester described in the above embodiments, and may also be a first perception device, that is, the perception type, perception accuracy information or perception time information may not be carried in the first perception control information, and may be determined by the first perception device after receiving the first perception control information. For example, the first perception device may determine the perception type based on the information used to indicate the perception object, and the first perception device may also determine the perception accuracy information or perception time information based on its own configuration or capability.

[0239] S302: The first sensing device determines first beam information according to information indicating the sensing object.

[0240] After receiving the first perception control information, the first perception device obtains information indicating the perception object therefrom, and determines the first beam information according to the information indicating the perception object.

[0241] The first beam information is used to indicate a beam used to perform perception of a perception object. In this embodiment, the first beam information is determined by a first perception device.

[0242] It should be understood that the specific description of the first beam information can refer to the relevant description of the first beam information in the previous embodiment, and the specific description of the first sensing device determining the first beam information can refer to the relevant description of the control device determining the first beam information in the previous embodiment, which will not be repeated here.

[0243] S303: The first perception device performs perception on the perception object according to the first beam information.

[0244] It can be understood that when the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or the first perception device also determines the perception type, and / or perception accuracy information, and / or perception time information by itself, accordingly, the first perception device also performs perception on the perception object according to the perception type, and / or the perception accuracy information, and / or the perception time information.

[0245] Optionally, Figure 3 The sensing method shown also includes the following steps S304 to S308.

[0246] S304: The first perception device sends first perception data to the control device, and correspondingly, the control device receives the first perception data from the first perception device.

[0247] S305: The control device obtains information indicating a perception target according to the first perception data.

[0248] In one embodiment, the sensing object is a sensing area, and the first sensing device performs sensing for the sensing area according to the first beam information to obtain first sensing data. The control device processes the first sensing data to identify whether the first sensing data contains data representing the sensing target, that is, to detect whether the sensing area includes the sensing target. If the control device detects the sensing target in the sensing area, information indicating the sensing target can be obtained.

[0249] S306: The control device sends second perception control information to the first perception device, and correspondingly, the first perception device receives the second perception control information from the control device.

[0250] The second sensing control information includes information for indicating a sensing target. Optionally, the second sensing control information also includes sensing type, and / or sensing accuracy information, and / or sensing time information.

[0251] It should be understood that for the specific description of the information used to indicate the perception target, the perception type, the perception accuracy information, and the perception time information, reference can be made to the relevant description in the previous embodiments, and no further details will be given here.

[0252] S307: The first sensing device determines second beam information according to the information used to indicate the sensing target.

[0253] After receiving the second perception control information, the first perception device obtains information indicating a perception target therefrom, and determines the second beam information according to the information indicating the perception target.

[0254] The second beam information is used to indicate the beam used to perform the sensing of the sensing target. In one embodiment, the beam width indicated by the second beam information is smaller than the beam width indicated by the first beam information.

[0255] In this embodiment, the second beam information is determined by the first sensing device. It should be understood that the specific description of the first sensing device determining the second beam information can refer to the relevant description of the control device determining the second beam information in the previous embodiment, which will not be repeated here.

[0256] S308: The first sensing device performs sensing for the sensing target according to the second beam information.

[0257] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or the first perception device also determines the perception type, and / or perception accuracy information, and / or perception time information by itself, accordingly, the first perception device also performs perception for the perception target according to the perception type, and / or the perception accuracy information, and / or the perception time information.

[0258] Based on the above scheme, the control device can obtain information used to indicate the perception target according to the first perception data, and the first perception device can determine the second beam information according to the information used to indicate the perception target, that is, the control device and the first perception device collaborate to complete the determination of the second beam information.

[0259] It should be understood that in other embodiments, the second beam information may also be determined independently by the control device or the first sensing device.

[0260] Optionally, the above steps S305 to S307 may be replaced by the following steps:

[0261] The control device determines the second beam information according to the first perception data; the control device sends the second perception control information to the first perception device, and accordingly, the first perception device receives the second perception control information from the control device, where the second perception control information includes the second beam information.

[0262] Based on the above solution, the control device can obtain information indicating the perception target according to the first perception data, and determine the second beam information according to the information indicating the perception target, that is, the control device completes the determination of the second beam information alone. After determining the second beam information, the control device carries the second beam information in the second perception control information and sends it to the first perception device, so that the first perception device can directly obtain the second beam information from the second perception control information.

[0263] Optionally, the above steps S304 to S307 may be replaced by the following steps:

[0264] The first sensing device obtains information indicating a sensing target according to the first sensing data; the first sensing device determines second beam information according to the information indicating the sensing target.

[0265] Based on the above scheme, the first perception device can obtain information used to indicate the perception target according to the first perception data, and determine the second beam information according to the information used to indicate the perception target, that is, the first perception device alone completes the determination of the second beam information.

[0266] See also Figure 4 , Figure 4 A flow chart of another perception method provided in an embodiment of the present application. Figure 4 The sensing method shown includes the following steps S401 to S404.

[0267] S401, a requesting device sends a perception request to a controlling device, and correspondingly, the controlling device receives the perception request from the requesting device.

[0268] S402: The control device determines first beam information according to information indicating the perceived object.

[0269] It should be understood that the specific description of step S401 to step S402 can refer to the relevant description of step S201 to step S202 in the previous embodiment, and will not be repeated here.

[0270] S403: The control device sends first perception control information to the first perception device, and accordingly, the first perception device receives the first perception control information from the control device. The control device sends the first perception control information to the second perception device, and accordingly, the second perception device receives the first perception control information from the control device.

[0271] The first sensing control information includes first beam information and a collaborative sensing mode. The first sensing control information is used to instruct the first sensing device and the second sensing device to collaboratively perform sensing on a sensing object according to the first beam information.

[0272] The second perception device refers to a device that cooperates with the first perception device to perform perception of the perception object. It should be understood that the signal of the second perception device can cover the perception object. Before the control device sends the first perception control information to the second perception device, it can first determine the second perception device. It should be understood that the specific description of the control device determining the second perception device can be referred to the relevant description of the control device determining the second perception device in the previous embodiment, which will not be repeated here.

[0273] Optionally, the collaborative sensing mode adopts a mutual transmission and reception mode or a one-transmission and one-reception mode. In the mutual transmission and reception mode, the first sensing device and the second sensing device both transmit wireless signals as a transmitter and receive wireless signals as a receiver. In the one-transmission and one-reception mode, one of the first sensing device and the second sensing device transmits wireless signals as a transmitter and the other receives wireless signals as a receiver.

[0274] In one embodiment, the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the first perception control information is also used to instruct the first perception device and the second perception device to collaboratively perform perception of the perception object according to the perception type, and / or perception accuracy information, and / or perception time information.

[0275] S404: The first sensing device and the second sensing device collaboratively perform sensing of the sensing object according to the first beam information.

[0276] After receiving the first perception control information, the first perception device and the second perception device obtain the first beam information therefrom, and collaboratively perform perception of the perception object according to the first beam information.

[0277] It can be understood that when the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the second perception device also collaboratively perform perception of the perception object based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0278] Optionally, Figure 4 The sensing method shown also includes the following steps S405 to S407.

[0279] S405: The first perception device sends first perception data to the control device, and correspondingly, the control device receives the first perception data from the first perception device.

[0280] S406: The control device processes the first perception data to obtain a first perception result.

[0281] S407: The control device sends the first perception result to the requesting device, and correspondingly, the requesting device receives the first perception result from the control device.

[0282] It should be understood that the specific description of steps S405 to S407 may refer to the relevant description of steps S205 to S207 in the previous embodiment, and will not be repeated here.

[0283] Optionally, Figure 4 The sensing method shown also includes the following steps S408 to S410.

[0284] S408: The control device determines second beam information according to the first perception result.

[0285] In one embodiment, the sensing object is a sensing area, the first sensing result indicates that the sensing target is detected in the sensing area, and the second beam information is used to indicate the beam used to perform sensing for the sensing target. The beam width indicated by the second beam information is smaller than the beam width indicated by the first beam information.

[0286] S409: The control device sends second perception control information to the first perception device, and accordingly, the first perception device receives the second perception control information from the control device. The control device sends the second perception control information to the second perception device, and accordingly, the second perception device receives the second perception control information from the control device.

[0287] The second sensing control information includes second beam information and a collaborative sensing mode. The second sensing control information is used to instruct the first sensing device and the second sensing device to collaboratively perform sensing for a sensing target according to the second beam information.

[0288] Optionally, the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second perception control information is also used to instruct the first perception device and the second perception device to collaboratively perform perception of the perception target according to the perception type, and / or perception accuracy information, and / or perception time information.

[0289] In a possible implementation manner, the cooperative sensing mode in the first sensing control information adopts a mutual transmission and reception mode, and the cooperative sensing mode in the second sensing control information adopts a one-transmission and one-reception mode.

[0290] Accordingly, when the control device detects a perception target within the perception area, it also supports adjustment of the collaborative perception mode. By adjusting the collaborative perception mode from a mutual transmission and reception mode to a one-transmission and one-reception mode, the utilization rate of perception resources can be improved.

[0291] S410: The first sensing device and the second sensing device collaboratively perform sensing for a sensing target according to the second beam information.

[0292] After receiving the second perception control information, the first perception device and the second perception device obtain second beam information therefrom, and collaboratively perform perception on the perception target according to the second beam information.

[0293] In one embodiment, the first sensing device serves as a receiving end, and the second sensing device serves as a transmitting end. The second sensing device transmits wireless signal data to the sensing target according to the second beam information, and the first sensing device receives the reflected wireless signal data. The beam width of the transmitting end is adjusted accordingly according to the instruction of the control device; the beam width of the receiving end may be adjusted accordingly according to the instruction of the control device, or may not be adjusted.

[0294] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the second perception device also collaboratively perform perception for the perception target based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0295] Optionally, Figure 4 The sensing method shown also includes the following steps S411 to S413.

[0296] S411: The first sensing device sends second sensing data to the control device, and correspondingly, the control device receives the second sensing data from the first sensing device.

[0297] S412: The control device processes the second perception data to obtain a second perception result.

[0298] S413: The control device sends the second perception result to the requesting device, and correspondingly, the requesting device receives the second perception result from the control device.

[0299] It should be understood that the specific description of steps S411 to S413 may refer to the relevant description of steps S211 to S213 in the previous embodiment, and will not be repeated here.

[0300] Based on the above scheme, the control device can first instruct the first perception device and the second perception device to use a wider beam to perform mutual transmission and reception scanning perception within a certain area, and perform target identification on the scanning perception data obtained by the first perception device. When the perception target is identified, the control device can adjust the beam width, perception type and perception mode, and then instruct the first perception device and the second perception device to use a narrower beam to perform one-to-one transmission and one-to-receive tracking perception on the perception target. This can achieve efficient scanning perception and high-precision tracking perception, thereby meeting the perception requirements of two different stages of target detection and target tracking, and can improve the utilization rate of perception resources.

[0301] Optionally, the first sensing device and the second sensing device are both base stations, and the above scheme is applicable to sensing services in the inter-base station transceiver sensing mode, such as target intrusion detection and tracking.

[0302] See also Figure 5 , Figure 5 A flow chart of another perception method provided in an embodiment of the present application. Figure 5 The sensing method shown includes the following steps S501 to S504.

[0303] S501: A control device sends first perception control information to a first perception device, and correspondingly, the first perception device receives the first perception control information from the control device.

[0304] The first sensing control information includes information for indicating a sensing object and a collaborative sensing mode. The first sensing control information is used to instruct the first sensing device and the second sensing device to collaboratively perform sensing on the sensing object.

[0305] Optionally, the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the first perception control information is also used to instruct the first perception device and the second perception device to collaboratively perform perception of the perception object according to the perception type, and / or perception accuracy information, and / or perception time information.

[0306] S502: The first sensing device determines first beam information according to information indicating the sensing object.

[0307] It should be understood that the specific description of step S502 may refer to the relevant description of step S302 in the previous embodiment, and will not be repeated here.

[0308] S503: The first perception device sends first indication information to the second perception device, and correspondingly, the second perception device receives the first indication information from the first perception device.

[0309] The first indication information includes first beam information and a collaborative sensing mode. The first indication information is used to instruct the second sensing device to perform sensing for the sensing object in collaboration with the first sensing device according to the first beam information.

[0310] Optionally, the first indication information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the first indication information is also used to instruct the second perception device to cooperate with the first perception device to perform perception of the perception object according to the perception type, and / or perception accuracy information, and / or perception time information.

[0311] S504: The first sensing device and the second sensing device collaboratively perform sensing of the sensing object according to the first beam information.

[0312] It can be understood that when the first perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or the first indication information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the second perception device also collaboratively perform perception of the perception object based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0313] Optionally, Figure 5 The sensing method shown also includes the following steps S505 to S510.

[0314] S505: The first perception device sends first perception data to the control device, and correspondingly, the control device receives the first perception data from the first perception device.

[0315] S506: The control device obtains information indicating the perception target according to the first perception data.

[0316] S507: The control device sends second perception control information to the first perception device, and correspondingly, the first perception device receives the second perception control information from the control device.

[0317] The second sensing control information includes information for indicating a sensing target and a collaborative sensing mode. The second sensing control information is used to instruct the first sensing device and the second sensing device to collaboratively perform sensing for the sensing target.

[0318] Optionally, the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second perception control information is also used to instruct the first perception device and the second perception device to collaboratively perform perception of the perception object according to the perception type, and / or perception accuracy information, and / or perception time information.

[0319] S508: The first sensing device determines second beam information according to the information indicating the sensing target.

[0320] S509: The first perception device sends second indication information to the second perception device, and correspondingly, the second perception device receives the second indication information from the first perception device.

[0321] The second indication information includes second beam information and a collaborative sensing mode. The second indication information is used to instruct the second sensing device to perform sensing for a sensing target in collaboration with the first sensing device according to the second beam information.

[0322] Optionally, the second indication information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second indication information is also used to instruct the second perception device to cooperate with the first perception device to perform perception of the perception target according to the perception type, and / or perception accuracy information, and / or perception time information.

[0323] S510: The first sensing device and the second sensing device collaboratively perform sensing for a sensing target according to the second beam information.

[0324] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or the second indication information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the second perception device also collaboratively perform perception for the perception target according to the perception type, and / or the perception accuracy information, and / or the perception time information.

[0325] It should be understood that the specific description of the above steps S505 to S506 and step S508 can refer to the relevant description of steps S304 to S305 and step S307 in the previous embodiment, and will not be repeated here.

[0326] Optionally, the above steps S506 to S508 may be replaced by the following steps:

[0327] The control device determines the second beam information according to the first perception data; the control device sends the second perception control information to the first perception device, and accordingly, the first perception device receives the second perception control information from the control device, where the second perception control information includes the second beam information.

[0328] Based on the above solution, the control device can obtain information indicating the perception target according to the first perception data, and determine the second beam information according to the information indicating the perception target, that is, the control device completes the determination of the second beam information alone. After determining the second beam information, the control device carries the second beam information in the second perception control information and sends it to the first perception device, so that the first perception device can directly obtain the second beam information from the second perception control information.

[0329] Optionally, the above steps S505 to S508 may be replaced by the following steps:

[0330] The first sensing device obtains information indicating a sensing target according to the first sensing data; the first sensing device determines second beam information according to the information indicating the sensing target.

[0331] Based on the above scheme, the first perception device can obtain information used to indicate the perception target according to the first perception data, and determine the second beam information according to the information used to indicate the perception target, that is, the first perception device alone completes the determination of the second beam information.

[0332] See also Figure 6 , Figure 6 A process interaction diagram of a perception method provided in an embodiment of the present application. Figure 6 The sensing method shown includes the following steps S601 to S613.

[0333] S601, a requesting device sends a perception request to a controlling device, and correspondingly, the controlling device receives the perception request from the requesting device.

[0334] S602: The control device determines first beam information according to information indicating the perceived object.

[0335] S603: The control device sends first perception control information to the first perception device, and correspondingly, the first perception device receives the first perception control information from the control device.

[0336] S604: The first perception device performs perception on the perception object according to the first beam information.

[0337] S605: The first perception device sends first perception data to the control device, and correspondingly, the control device receives the first perception data from the first perception device.

[0338] S606: The control device processes the first perception data to obtain a first perception result.

[0339] S607: The control device sends the first perception result to the requesting device, and correspondingly, the requesting device receives the first perception result from the control device.

[0340] S608: The control device determines second beam information according to the first perception result.

[0341] S609: The control device sends second perception control information to the first perception device, and accordingly, the first perception device receives the second perception control information from the control device. The control device sends the second perception control information to the user equipment, and accordingly, the user equipment receives the second perception control information from the control device.

[0342] The second perception control information includes second beam information and a user equipment (UE) assisted perception mode. The UE assisted perception mode can also be understood as a collaborative perception mode. The second perception device in this perception mode is the UE. The second perception control information is used to instruct the first perception device and the user equipment to collaboratively perform perception of the perception target according to the second beam information.

[0343] Optionally, the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second perception control information is also used to instruct the first perception device and the user device to collaboratively perform perception for the perception target according to the perception type, and / or perception accuracy information, and / or perception time information.

[0344] S610: The first sensing device and the user equipment collaboratively perform sensing for a sensing target according to the second beam information.

[0345] After receiving the second perception control information, the first perception device and the user equipment obtain second beam information therefrom, and collaboratively perform perception for the perception target according to the second beam information.

[0346] Specifically, the first sensing device acts as a receiving end, and the user device acts as a transmitting end. The user device transmits wireless signal data to the sensing target according to the second beam information, and the first sensing device receives the reflected wireless signal data. The beam width of the transmitting end is adjusted accordingly according to the instruction of the control device; the beam width of the receiving end may be adjusted accordingly according to the instruction of the control device, or may not be adjusted.

[0347] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the user device also collaboratively perform perception for the perception target based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0348] S611: The first perception device sends second perception data to the control device, and correspondingly, the control device receives the second perception data from the first perception device.

[0349] S612: The control device processes the second perception data to obtain a second perception result.

[0350] S613: The control device sends the second perception result to the requesting device, and correspondingly, the requesting device receives the second perception result from the control device.

[0351] It should be understood that the specific description of the above steps S601 to S608 and steps S611 to S613 can refer to the relevant description of steps S201 to S208 and steps S211 to S213 in the previous embodiments, and will not be repeated here.

[0352] Based on the above scheme, the control device can first instruct the first perception device to use a wider beam to perform scanning perception within a certain area, and perform target identification on the scanning perception data obtained by the first perception device. When the perception target is identified, the control device can adjust the beam width, perception type and perception mode, and then instruct the user device to assist the first perception device to use a narrower beam to track and perceive the perception target. This can achieve efficient scanning perception and high-precision tracking perception, thereby meeting the perception requirements of two different stages of target detection and target tracking, and can improve the utilization rate of perception resources.

[0353] Optionally, the first sensing device is a base station, and the above solution is applicable to sensing services in a UE sending and base station receiving sensing mode, such as target intrusion detection and tracking.

[0354] See also Figure 7 , Figure 7 A flow chart of another perception method provided in an embodiment of the present application. Figure 7 The sensing method shown includes the following steps S701 to S709.

[0355] S701: The control device sends first perception control information to the first perception device, and correspondingly, the first perception device receives the first perception control information from the control device.

[0356] S702: The first sensing device determines first beam information according to information indicating the sensing object.

[0357] S703: The first perception device performs perception on the perception object according to the first beam information.

[0358] S704: The first perception device sends first perception data to the control device, and correspondingly, the control device receives the first perception data from the first perception device.

[0359] S705: The control device obtains information indicating a perception target according to the first perception data.

[0360] S706: The control device sends second perception control information to the first perception device, and correspondingly, the first perception device receives the second perception control information from the control device.

[0361] The second sensing control information includes information for indicating a sensing target and a UE-assisted sensing mode. The second sensing control information is used to instruct the first sensing device and the user equipment to collaboratively perform sensing for the sensing target.

[0362] Optionally, the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the second perception control information is also used to instruct the first perception device and the user device to collaboratively perform perception for the perception target according to the perception type, and / or perception accuracy information, and / or perception time information.

[0363] S707: The first sensing device determines second beam information according to the information used to indicate the sensing target.

[0364] S708: The first perception device sends third indication information to the user equipment, and correspondingly, the user equipment receives the third indication information from the first perception device.

[0365] The third indication information includes the second beam information and the UE-assisted sensing mode. The third indication information is used to instruct the user equipment to assist the first sensing device in performing sensing for the sensing target according to the second beam information.

[0366] Optionally, the third indication information also includes perception type, and / or perception accuracy information, and / or perception time information. Accordingly, the third indication information is also used to instruct the user device to assist the first perception device in performing perception of the perception object according to the perception type, and / or perception accuracy information, and / or perception time information.

[0367] In one embodiment, the third indication information may be information sent by the first sensing device to the user equipment based on a radio resource control (Radio Resource Control, RRC) protocol.

[0368] S709: The first sensing device and the user equipment collaboratively perform sensing for the sensing target according to the second beam information.

[0369] It can be understood that when the second perception control information also includes perception type, and / or perception accuracy information, and / or perception time information, or the third indication information also includes perception type, and / or perception accuracy information, and / or perception time information, accordingly, the first perception device and the user device also collaboratively perform perception of the perception object based on the perception type, and / or the perception accuracy information, and / or the perception time information.

[0370] It should be understood that the specific description of the above steps S701 to S705 and step S707 can refer to the relevant description of steps S301 to S305 and step S307 in the previous embodiments, and will not be repeated here.

[0371] Optionally, the above steps S705 to S707 may be replaced by the following steps:

[0372] The control device determines the second beam information according to the first perception data; the control device sends the second perception control information to the first perception device, and accordingly, the first perception device receives the second perception control information from the control device, where the second perception control information includes the second beam information.

[0373] Based on the above solution, the control device can obtain information indicating the perception target according to the first perception data, and determine the second beam information according to the information indicating the perception target, that is, the control device completes the determination of the second beam information alone. After determining the second beam information, the control device carries the second beam information in the second perception control information and sends it to the first perception device, so that the first perception device can directly obtain the second beam information from the second perception control information.

[0374] Optionally, the above steps S704 to S707 may be replaced by the following steps:

[0375] The first sensing device obtains information indicating a sensing target according to the first sensing data; the first sensing device determines second beam information according to the information indicating the sensing target.

[0376] Based on the above scheme, the first perception device can obtain information used to indicate the perception target according to the first perception data, and determine the second beam information according to the information used to indicate the perception target, that is, the first perception device alone completes the determination of the second beam information.

[0377] Optionally, the above Figure 6 or Figure 7 In the illustrated embodiment, the user equipment may be replaced by a base station, and accordingly, the first sensing device is the user equipment, so that the user equipment serves as a receiving end and the base station serves as a transmitting end, so as to be suitable for sensing services in a base station-UE-receiving sensing mode.

[0378] The above describes in detail the method of the embodiments of the present application. The following provides a device for implementing any method in the embodiments of the present application. For example, a device is provided including a unit (or means) for implementing each step performed by a network element / device in any of the above methods.

[0379] See also Figure 8 , Figure 8 A schematic diagram of the structure of a sensing device provided in an embodiment of the present application.

[0380] like Figure 8 As shown, the sensing device 800 may include a transceiver unit 801 and a processing unit 802. The transceiver unit 801 and the processing unit 802 may be software, hardware, or a combination of software and hardware.

[0381] The transceiver unit 801 can implement a sending function and / or a receiving function, and the transceiver unit 801 can also be described as a communication unit. The transceiver unit 801 can also be a unit integrating an acquisition unit and a sending unit, wherein the acquisition unit is used to implement a receiving function, and the sending unit is used to implement a sending function. Optionally, the transceiver unit 801 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0382] In a possible design, the sensing device 800 may correspond to the control device in the above method embodiment. For example, the sensing device 800 may be the control device in the above method embodiment, or may be a chip in the control device. The sensing device 800 may include a unit for executing the operations performed by the control device in the above method embodiment, and each unit in the sensing device 800 is respectively for implementing the operations performed by the control device in the above method embodiment. The description of each unit is as follows:

[0383] The transceiver unit 801 is used to receive a sensing request from a requesting device, where the sensing request includes information indicating a sensing object;

[0384] The processing unit 802 is configured to determine first beam information according to the information indicating the perception object, where the first beam information is used to indicate a beam used to perform perception of the perception object;

[0385] The transceiver unit 801 is further used to: send first perception control information to a first perception device, where the first perception control information includes first beam information, and the first perception device is used to perform perception on a perception object.

[0386] In a possible implementation manner, the first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

[0387] In a possible implementation manner, the first perception control information further includes a perception type.

[0388] In a possible implementation manner, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0389] In a possible implementation manner, the first perception control information further includes perception accuracy information and / or perception time information.

[0390] In a possible implementation, the first perception control information also includes a collaborative perception mode.

[0391] In a possible implementation manner, the transceiver unit 801 is further used to: send the first perception control information to the second perception device, and the second perception device is used to perform perception on the perception object.

[0392] In a possible implementation, the transceiver unit 801 is also used to: receive first perception data from a first perception device, where the first perception data is perception data obtained by the first perception device after performing perception of the perception object according to the first beam information; the processing unit 802 is also used to: process the first perception data to obtain a first perception result; the transceiver unit 801 is also used to: send the first perception result to the requesting device.

[0393] In a possible implementation, the processing unit 802 is also used to: determine second beam information based on the first perception result, and the second beam information is different from the first beam information; the transceiver unit 801 is also used to: send second perception control information to the first perception device, and the second perception control information includes second beam information.

[0394] In a possible implementation manner, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0395] In another possible design, the sensing device 800 may correspond to the first sensing device in the above method embodiment, for example, the sensing device 800 may be the first sensing device in the above method embodiment, or may be a chip in the first sensing device. The sensing device 800 may include a unit for executing the operation performed by the first sensing device in the above method embodiment, and each unit in the sensing device 800 is respectively for implementing the operation performed by the first sensing device in the above method embodiment.

[0396] In a possible embodiment, the description of each unit is as follows:

[0397] The transceiver unit 801 is configured to receive first perception control information from a control device, where the first perception control information includes first beam information, where the first beam information is used to indicate a beam used to perform perception of a perception object;

[0398] The processing unit 802 is configured to perform perception of the perception object according to the first beam information.

[0399] In another possible embodiment, the description of each unit is as follows:

[0400] The transceiver unit 801 is configured to receive first perception control information from a control device, where the first perception control information includes information indicating a perception object;

[0401] The processing unit 802 is used to determine first beam information according to information indicating a perceived object, where the first beam information is used to indicate a beam used to perform perception of the perceived object; and perform perception of the perceived object according to the first beam information.

[0402] In a possible implementation manner, the first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

[0403] In a possible implementation manner, the first perception control information further includes a perception type.

[0404] In a possible implementation manner, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0405] In a possible implementation manner, the first perception control information also includes perception accuracy information and / or perception time information.

[0406] In a possible implementation, the first perception control information also includes a collaborative perception mode.

[0407] In a possible implementation, the transceiver unit 801 is further used to: send indication information to the second sensing device, where the indication information includes the first beam information and the collaborative sensing mode, and the second sensing device is used to perform sensing for the sensing object.

[0408] In one possible implementation, the transceiver unit 801 is also used to: receive second perception control information from the control device, the second perception control information includes second beam information, the second beam information is used to indicate the beam used to perform perception of the perception target, and the second beam information is different from the first beam information; the processing unit 802 is also used to: perform perception of the perception target according to the second beam information.

[0409] In one possible implementation, the transceiver unit 801 is also used to: receive second perception control information from the control device, the second perception control information includes information used to indicate the perception target; the processing unit 802 is also used to: determine second beam information based on the information used to indicate the perception target, the second beam information is used to indicate the beam used to perform perception for the perception target, the second beam information is different from the first beam information; and perform perception for the perception target according to the second beam information.

[0410] In one possible implementation, the processing unit 802 is further used to: obtain information for indicating a perception target based on first perception data, the first perception data being perception data obtained by the processing unit 802 after performing perception of the perception object based on the first beam information; determine second beam information based on the information for indicating the perception target, the second beam information being used to indicate a beam used to perform perception of the perception target, the second beam information being different from the first beam information; and perform perception of the perception target based on the second beam information.

[0411] In a possible implementation manner, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0412] According to the embodiment of the present application, Figure 8 The various units in the device shown can be separately or all combined into one or several other units to constitute, or some of the units (some) can also be split into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the functions of one unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, other units can also be included based on the electronic device. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0413] It should be noted that the implementation of each unit can also refer to the above Figures 2 to 7 The corresponding description of the method embodiment shown.

[0414] See also Fig. 9 , Fig. 9A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 900 may include a memory 901 and a processor 902. Further optionally, the electronic device 900 may also include a communication interface 903 and a bus 904. The memory 901, the processor 902 and the communication interface 903 are connected to each other through the bus 904. The communication interface 903 is used to exchange data with other devices.

[0415] The memory 901 is used to provide a storage space, in which data such as an operating system and a computer program can be stored. The memory 901 includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a portable read-only memory (CD-ROM).

[0416] The processor 902 is a module for performing arithmetic operations and logical operations, and may be a combination of one or more of processing modules such as a central processing unit (CPU), a graphics processing unit (GPU), or a microprocessor unit (MPU). The processor 902 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0417] In a possible design, the electronic device 900 may correspond to the control device in the above method embodiment, for example, the electronic device 900 may be the control device in the above method embodiment, or may be a chip in the control device. The electronic device 900 may include components for executing the operations performed by the control device in the above method embodiment, and the components in the electronic device 900 are respectively for implementing the operations performed by the control device in the above method embodiment. The processor 902 calls the computer program stored in the memory 901 to execute the above perception method, which may be specifically as follows:

[0418] The control device receives a sensing request from the requesting device, where the sensing request includes information indicating a sensing object;

[0419] The control device determines first beam information according to the information used to indicate the perception object, where the first beam information is used to indicate a beam used to perform perception on the perception object;

[0420] The control device sends first perception control information to the first perception device, where the first perception control information includes first beam information, and the first perception device is used to perform perception on a perception object.

[0421] In a possible implementation manner, the first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

[0422] In a possible implementation manner, the first perception control information further includes a perception type.

[0423] In a possible implementation manner, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0424] In a possible implementation manner, the first perception control information further includes perception accuracy information and / or perception time information.

[0425] In a possible implementation, the first perception control information also includes a collaborative perception mode.

[0426] In a possible implementation manner, the method further includes: the control device sends first perception control information to a second perception device, and the second perception device is used to perform perception on the perception object.

[0427] In a possible implementation, the method also includes: the control device receives first perception data from a first perception device, the first perception data being perception data obtained by the first perception device after performing perception of the perception object according to first beam information; the control device processes the first perception data to obtain a first perception result; and the control device sends the first perception result to the requesting device.

[0428] In a possible implementation, the method also includes: the control device determines second beam information based on the first perception result, and the second beam information is different from the first beam information; the control device sends second perception control information to the first perception device, and the second perception control information includes the second beam information.

[0429] In a possible implementation manner, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0430] In another possible design, the electronic device 900 may correspond to the first sensing device in the above method embodiment, for example, the electronic device 900 may be the first sensing device in the above method embodiment, or may be a chip in the first sensing device. The electronic device 900 may include a component for executing the operation performed by the first sensing device in the above method embodiment, and each component in the electronic device 900 is respectively for implementing the operation performed by the first sensing device in the above method embodiment.

[0431] In a possible embodiment, the processor 902 calls the computer program stored in the memory 901 to execute the above-mentioned perception method, which may be specifically as follows:

[0432] The first sensing device receives first sensing control information from the control device, where the first sensing control information includes first beam information, where the first beam information is used to indicate a beam used to perform sensing of a sensing object;

[0433] The first sensing device performs sensing for the sensing object according to the first beam information.

[0434] In another possible embodiment, the processor 902 calls the computer program stored in the memory 901 to execute the above-mentioned perception method, which may be specifically as follows:

[0435] The first sensing device receives first sensing control information from the control device, where the first sensing control information includes information for indicating a sensing object;

[0436] The first sensing device determines first beam information according to information indicating a sensing object, where the first beam information is used to indicate a beam used to perform sensing of the sensing object;

[0437] The first sensing device performs sensing for the sensing object according to the first beam information.

[0438] In a possible implementation manner, the first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

[0439] In a possible implementation manner, the first perception control information further includes a perception type.

[0440] In a possible implementation manner, the information used to indicate the perceived object includes one or more of the following information: an identifier of the perceived object, perception area information, and perception location information.

[0441] In a possible implementation manner, the first perception control information also includes perception accuracy information and / or perception time information.

[0442] In a possible implementation, the first perception control information also includes a collaborative perception mode.

[0443] In a possible implementation, the method further includes: the first sensing device sends indication information to the second sensing device, where the indication information includes the first beam information and the collaborative sensing mode, and the second sensing device is used to perform perception on the sensing object.

[0444] In a possible implementation, the method also includes: the first perception device receives second perception control information from the control device, the second perception control information includes second beam information, the second beam information is used to indicate the beam used to perform perception of the perception target, and the second beam information is different from the first beam information; the first perception device performs perception of the perception target according to the second beam information.

[0445] In a possible implementation, the method also includes: the first perception device receives second perception control information from the control device, the second perception control information includes information used to indicate a perception target; the first perception device determines second beam information based on the information used to indicate the perception target, the second beam information is used to indicate a beam used to perform perception of the perception target, and the second beam information is different from the first beam information; the first perception device performs perception of the perception target based on the second beam information.

[0446] In a possible implementation, the method also includes: the first perception device obtains information for indicating a perception target based on first perception data, the first perception data being perception data obtained by the first perception device after performing perception of the perception object based on the first beam information; the first perception device determines second beam information based on the information for indicating the perception target, the second beam information is used to indicate a beam used to perform perception of the perception target, and the second beam information is different from the first beam information; the first perception device performs perception of the perception target based on the second beam information.

[0447] In a possible implementation manner, the first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

[0448] For cases where the electronic device may be a chip or a chip system, see Fig.10 , Fig.10 A schematic diagram of the structure of a chip provided in an embodiment of the present application.

[0449] like Fig.10 As shown, the chip 1000 includes a processor 1001 and an interface 1002. The number of the processors 1001 may be one or more, and the number of the interfaces 1002 may be multiple. It should be noted that the functions corresponding to the processor 1001 and the interface 1002 may be implemented by hardware design, software design, or a combination of hardware and software, which is not limited here.

[0450] Optionally, the chip 1000 may further include a memory 1003 , and the memory 1003 is used to store necessary program instructions and data.

[0451] In the present application, the processor 1001 may be used to call the implementation program of the perception method provided in one or more embodiments of the present application in the electronic device from the memory 1003, and execute the instructions contained in the program. The interface 1002 may be used to output the execution result of the processor 1001. In the present application, the interface 1002 may be specifically used to output various messages or information of the processor 1001.

[0452] For the perception method provided by one or more embodiments of the present application, please refer to the above-mentioned method embodiments, which will not be repeated here.

[0453] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on one or more processors, the method shown in the above method embodiment can be implemented.

[0454] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program runs on a processor, the method shown in the above method embodiment can be implemented.

[0455] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a perception system, which includes at least one of the above-mentioned perception devices 800 or electronic devices 900 or chips 1000.

[0456] According to the method provided by the embodiment of the present application, the embodiment of the present application also provides a perception system, which includes a control device and a first perception device, wherein the control device is used to execute the steps performed by the control device in the above method embodiment, and the first perception device is used to execute the steps performed by the first perception device in the above method embodiment.

[0457] It should be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a hard disk drive (HDD), a solid-state drive (SSD), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DRRAM). It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0458] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable device. The computer program or instruction may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instruction may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium may be a magnetic medium, for example, a floppy disk, a hard disk, a tape; it may also be an optical medium, for example, a digital video disc; it may also be a semiconductor medium, for example, a solid-state hard disk. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0459] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments provided herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0460] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0461] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0462] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0463] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0464] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the technology or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0465] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A sensing method, characterized in that: include: The control device receives a sensing request from the requesting device, wherein the sensing request includes information indicating a sensing object; The control device determines first beam information according to the information used to indicate the perception object, where the first beam information is used to indicate a beam used to perform perception on the perception object; The control device sends first perception control information to a first perception device, where the first perception control information includes the first beam information, and the first perception device is used to perform perception on the perception object.

2. The method according to claim 1, characterized in that The first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

3. The method according to claim 1 or 2, characterized in that: The first perception control information also includes a perception type.

4. The method according to any one of claims 1 to 3, characterized in that The information used to indicate the perceived object includes one or more of the following information: The identification of the perceived object, the perceived area information, and the perceived location information.

5. The method according to any one of claims 1 to 4, characterized in that The first perception control information also includes perception accuracy information and / or perception time information.

6. The method according to any one of claims 1 to 5, characterized in that The first perception control information also includes a collaborative perception mode.

7. The method according to claim 6, characterized in that The method further comprises: The control device sends the first perception control information to the second perception device, and the second perception device is used to perform perception on the perception object.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: The control device receives first perception data from the first perception device, where the first perception data is perception data obtained after the first perception device performs perception on the perception object according to the first beam information; The control device processes the first perception data to obtain a first perception result; The control device sends the first perception result to the requesting device.

9. The method according to claim 8, characterized in that The method further comprises: The control device determines second beam information according to the first sensing result, where the second beam information is different from the first beam information; The control device sends second perception control information to the first perception device, where the second perception control information includes the second beam information.

10. The method according to claim 9, characterized in that The first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

11. A sensing method, characterized in that: include: The first sensing device receives first sensing control information from the control device, where the first sensing control information includes first beam information, where the first beam information is used to indicate a beam used to perform sensing of a sensing object; The first sensing device performs sensing on the sensing object according to the first beam information.

12. A sensing method, characterized in that: include: The first sensing device receives first sensing control information from the control device, where the first sensing control information includes information indicating a sensing object; The first sensing device determines first beam information according to the information used to indicate the sensing object, where the first beam information is used to indicate a beam used to perform sensing of the sensing object; The first sensing device performs sensing on the sensing object according to the first beam information.

13. The method according to claim 11 or 12, characterized in that: The first beam information includes a beam width, or the first beam information includes a beam width and a beam direction.

14. The method according to any one of claims 11 to 13, characterized in that The first perception control information also includes a perception type.

15. The method according to any one of claims 11 to 14, characterized in that The information used to indicate the perceived object includes one or more of the following information: The identification of the perceived object, the perceived area information, and the perceived location information.

16. The method according to any one of claims 11 to 15, characterized in that The first perception control information also includes perception accuracy information and / or perception time information.

17. The method according to any one of claims 11 to 16, characterized in that The first perception control information also includes a collaborative perception mode.

18. The method according to claim 17, characterized in that The method further comprises: The first sensing device sends indication information to the second sensing device, where the indication information includes the first beam information and the collaborative sensing mode, and the second sensing device is used to perform sensing for the sensing object.

19. The method according to any one of claims 11 to 18, characterized in that The method further comprises: The first sensing device receives second sensing control information from the control device, where the second sensing control information includes second beam information, where the second beam information is used to indicate a beam used to perform sensing for a sensing target, and the second beam information is different from the first beam information; The first sensing device performs sensing for the sensing target according to the second beam information.

20. The method according to any one of claims 11 to 18, characterized in that The method further comprises: The first sensing device receives second sensing control information from the control device, where the second sensing control information includes information for indicating a sensing target; The first sensing device determines second beam information according to the information used to indicate the sensing target, where the second beam information is used to indicate a beam used to perform sensing for the sensing target, and the second beam information is different from the first beam information; The first sensing device performs sensing for the sensing target according to the second beam information.

21. The method according to any one of claims 11 to 18, characterized in that The method further comprises: The first sensing device obtains information indicating a sensing target according to first sensing data, where the first sensing data is sensing data obtained after the first sensing device performs sensing on the sensing object according to the first beam information; The first sensing device determines second beam information according to the information used to indicate the sensing target, where the second beam information is used to indicate a beam used to perform sensing for the sensing target, and the second beam information is different from the first beam information; The first sensing device performs sensing for the sensing target according to the second beam information.

22. The method according to any one of claims 17 to 19, characterized in that The first beam information includes a first beam width, and the second beam information includes a second beam width, wherein the second beam information is different from the first beam information in that the second beam width is smaller than the first beam width.

23. A sensing device, characterized in that: include: Comprising means for performing the steps of the method according to any one of claims 1 to 10, or means for performing the steps of the method according to any one of claims 11 to 22.

24. A sensing device, characterized in that: include: processor; When the processor calls the computer program or instruction in the memory, the method according to any one of claims 1 to 10 is executed, or the method according to any one of claims 11 to 22 is executed.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program or instructions, and when the computer program or instructions are executed, the method according to any one of claims 1 to 10 is implemented, or the method according to any one of claims 11 to 22 is implemented.

26. A computer program product, characterized in that The method comprises a computer program or an instruction, which, when executed, enables the method according to any one of claims 1 to 10 to be implemented, or the method according to any one of claims 11 to 22 to be implemented.

27. A perception system, characterized in that: include: A control device and a first sensing device, wherein the control device is used to execute the method according to any one of claims 1 to 10, and the first sensing device is used to execute the method according to any one of claims 11 to 22.

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