Perception communication method, device and system, storage medium and program product

Abstract

The invention provides a sensing communication method, device and system, a storage medium and a program product, and relates to the field of mobile communication. The sensing communication method comprises the following steps: receiving a first message sent by a second sensing device, wherein the first message is used for requesting a sensing service for a sensing target; under the condition that the perception service request is received, a second message is sent to the second perception device, the second message comprises at least one of first perception data of the perception target and first information, and the first information is used for indicating whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target or not.

Description

Technical Field

[0001] The present disclosure relates to the field of mobile communications, and in particular to a perceptual communication method, device, system, storage medium and program product. Background Art

[0002] Integrated Sensing and Communication (ISAC) technology builds two networks by reusing a set of equipment, achieving deep integration of communication and perception services, expanding the functional boundaries of communication networks, and laying the foundation for the universal application of perception services. The introduction of ISAC technology allows the information of the two networks of communication and perception to interact collaboratively, achieving two-way complementarity between communication environment reconstruction and perception performance optimization, and improving overall network performance. As computing power and intelligence become an indispensable part of modern network construction, by integrating advanced computing and intelligent perception processing technologies, the ISAC network can more efficiently process and analyze massive perception data, providing more accurate and fast perception services for various application scenarios.

[0003] In many perception scenarios, the perception target may be in a mobile state. When the perception target switches across perception devices, for example, the perception target moves from the perception range of the current perception device to the perception range of the adjacent perception device, or when the perception device changes, the perception service may be affected or interrupted. In addition, perception device failure, insufficient perception device capabilities, and limited perception resources can also cause the interruption of perception services. Summary of the invention

[0004] A technical problem to be solved by the present disclosure is to provide a perception communication method, device, system, storage medium and program product, which can reduce the situation of perception service interruption.

[0005] According to one aspect of the present disclosure, a perception communication method is proposed, which is executed by a first perception device, including: a perception communication method, which is executed by a first perception device, including: receiving a first message sent by a second perception device, the first message is used to request a perception service for a perception target; when accepting the perception service request, sending a second message to the second perception device, the second message includes first perception data of the perception target and at least one of the first information, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

[0006] In some embodiments, a third message sent by a second perception device is received, wherein the third message includes at least one of second perception data of a perception target, second information, third information, and fourth information, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate time information when the second perception device is about to stop the perception service.

[0007] In some embodiments, the first message includes at least one of third perception data and a perception parameter of the perception target.

[0008] In some embodiments, when the second information indicates that the target perceived by the second perception device is not the same perception target as the target perceived by the first perception device, the first perception data of the perception target is reacquired.

[0009] In some embodiments, the first perception data includes at least one of perception data of a first historical moment of the perception target, perception data of a first current moment, and perception data of a first future moment.

[0010] In some embodiments, the second perception data includes at least one of perception data of a second historical moment of the perception target, perception data of a second current moment, and perception data of a second future moment.

[0011] In some embodiments, the third perception data includes at least one of perception data of the perception target at a third historical moment, perception data at a third current moment, and perception data at a third future moment.

[0012] In some embodiments, the perception data includes at least one of perception measurement data and perception results.

[0013] In some embodiments, the sensory measurement data includes at least one of a time delay, a Doppler shift, an angle, a position, a speed, and an intensity of a sampling point.

[0014] In some embodiments, the perception result includes at least one of position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

[0015] In some embodiments, the perception parameter includes at least one of a service type, a service requirement, a perception area, perception target information, perception device information, a perception method, and information of a device receiving the perception data.

[0016] In some embodiments, whether to accept or reject the sensing service request is determined based on at least one of the sensing capability, sensing resources, and operating status of the first sensing device.

[0017] In some embodiments, the sensing target is a device or object authorized by the network, or a device or object not authorized by the network.

[0018] According to another aspect of the present disclosure, a perception communication method is also proposed, which is executed by a second perception device, including: sending a first message to the first perception device, the first message being used to request perception service for a perception target; receiving a second message sent by the first perception device, wherein the second message includes first perception data of the perception target and at least one item of first information, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

[0019] In some embodiments, a third message is sent to the first perception device, wherein the third message includes at least one of second perception data of the perception target, second information, third information, and fourth information, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

[0020] In some embodiments, the first message includes at least one of third perception data and a perception parameter of the perception target.

[0021] In some embodiments, when it is determined that the target perceived by the second perception device is not the same perception target as the target perceived by the first perception device, second perception data of the perception target is reacquired.

[0022] In some embodiments, the first perception data includes at least one of perception data of a first historical moment of the perception target, perception data of a first current moment, and perception data of a first future moment.

[0023] In some embodiments, the second perception data includes at least one of perception data of a second historical moment of the perception target, perception data of a second current moment, and perception data of a second future moment.

[0024] In some embodiments, the third perception data includes at least one of perception data of the perception target at a third historical moment, perception data at a third current moment, and perception data at a third future moment.

[0025] In some embodiments, the perception data includes at least one of perception measurement data and perception results.

[0026] In some embodiments, the sensory measurement data includes at least one of a time delay, a Doppler shift, an angle, a position, a speed, and an intensity of a sampling point.

[0027] In some embodiments, the perception result includes at least one of position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

[0028] In some embodiments, the perception parameter includes at least one of a service type, a service requirement, a perception area, perception target information, perception device information, a perception method, and information of a device receiving the perception data.

[0029] In some embodiments, the sensing target is a device or object authorized by the network, or a device or object not authorized by the network.

[0030] According to another aspect of the present disclosure, a perception communication method is also proposed, which is executed by a perception target, including: sending perception data to at least one of a first perception device and a second perception device, wherein the first perception device executes the corresponding perception communication method and the second perception device executes the corresponding perception communication method.

[0031] According to another aspect of the present disclosure, a perception communication device is also proposed, which is located in a first perception device and includes: a first processing unit, configured to receive a first message sent by a second perception device, the first message being used to request a perception service for a perception target; a second processing unit, configured to send a second message to the second perception device upon accepting the perception service request, the second message including at least one of the first perception data and the first information of the perception target, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

[0032] In some embodiments, the perception communication device also includes: a third processing unit, configured to receive a third message sent by a second perception device, wherein the third message includes at least one of second perception data of the perception target, second information, third information and fourth information, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

[0033] According to another aspect of the present disclosure, a perception communication device is also proposed, located in the second perception device, including: a fourth processing unit, configured to send a first message to the first perception device, the first message is used to request perception service for the perception target; a fifth processing unit, configured to receive a second message sent by the first perception device, wherein the second message includes at least one of the first perception data and the first information of the perception target, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

[0034] In some embodiments, the perception communication device also includes: a sixth processing unit, configured to send a third message to the first perception device, wherein the third message includes at least one of second perception data of the perception target, second information, third information and fourth information, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

[0035] According to another aspect of the present disclosure, a perception communication device is also proposed, located at a perception target, and includes: a sending module configured to send perception data to at least one of a first perception device and a second perception device, wherein the first perception device executes a corresponding perception communication method and the second perception device executes a corresponding perception communication method.

[0036] According to another aspect of the present disclosure, a perception communication system is further proposed, comprising: the perception communication device located at the first perception device; and the perception communication device located at the second perception device.

[0037] In some embodiments, the perception communication system further includes: the above-mentioned perception communication device located at the perception target.

[0038] According to another aspect of the present disclosure, a perceptual communication device is also proposed, including: a memory; and a processor coupled to the memory, wherein the processor is configured to execute the perceptual communication method as described above based on instructions stored in the memory.

[0039] According to another aspect of the present disclosure, a computer-readable storage medium is also provided, on which computer program instructions are stored, and when the instructions are executed by a processor, the perceptual communication method as described above is implemented.

[0040] According to another aspect of the present disclosure, a computer program product is also proposed, including a computer program or instructions, and the computer program or instructions implement the above-mentioned perceptual communication method when executed by a processor.

[0041] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0044] Figure 1A flowchart of some embodiments of the perceptual communication method disclosed in the present invention;

[0045] Figure 2 Schematic diagram of the flow chart of other embodiments of the perceptual communication method disclosed in the present invention;

[0046] Figure 3 Schematic diagram of the flow chart of other embodiments of the perceptual communication method disclosed in the present invention;

[0047] Figure 4 Schematic diagram of the flow chart of other embodiments of the perceptual communication method disclosed in the present invention;

[0048] Figure 5 Schematic diagram of the flow chart of other embodiments of the perceptual communication method disclosed in the present invention;

[0049] Figure 6 Schematic diagram of the flow chart of other embodiments of the perceptual communication method disclosed in the present invention;

[0050] Figure 7 Schematic diagram of the flow chart of other embodiments of the perceptual communication method disclosed in the present invention;

[0051] Figure 8 Schematic diagram of the flow chart of other embodiments of the perceptual communication method disclosed in the present invention;

[0052] Fig. 9 Schematic diagram of the flow chart of other embodiments of the perceptual communication method disclosed in the present invention;

[0053] Fig.10 Schematic diagram of the flow chart of other embodiments of the perceptual communication method disclosed in the present invention;

[0054] Fig.11 It is a schematic diagram of the structure of some embodiments of the perceptual communication device disclosed in the present invention;

[0055] Fig.12 It is a schematic diagram of the structure of some other embodiments of the perception communication device disclosed in the present invention;

[0056] Fig.13 It is a schematic diagram of the structure of some other embodiments of the perception communication device disclosed in the present invention;

[0057] Fig.14 It is a schematic diagram of the structure of some embodiments of the perception communication system disclosed in the present invention;

[0058] Fig.15 It is a schematic diagram of the structure of some other embodiments of the perception communication system disclosed in the present invention;

[0059] Fig.16 It is a schematic diagram of the structure of other embodiments of the perception communication system disclosed in the present invention. DETAILED DESCRIPTION

[0060] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0061] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0062] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0063] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0064] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0065] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0066] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0067] Figure 1 The flowchart of some embodiments of the perception communication method disclosed in the present invention is shown in FIG. 1 , which is performed by a first perception device and includes steps S11-S12. The first perception device is a device that sends a perception signal and / or receives a perception signal and performs corresponding signal processing, such as a base station or a terminal device.

[0068] In step S11, a first message sent by a second sensing device is received, where the first message is used to request a sensing service for a sensing target.

[0069] For example, when the sensing target moves or switches from the second sensing device to the first sensing device, the second sensing device sends a first message to the first sensing device. Alternatively, when the second sensing device cannot meet the sensing requirements due to a sensing device failure, insufficient sensing device capability, or limited sensing resources, the first message is sent to the first sensing device.

[0070] The sensing target is a specific object that needs to be sensed, such as a device or object authorized by the network, or a device or object not authorized by the network. A device or object authorized by the network can register in the network and obtain network services, while an unauthorized device or object cannot register in the network and obtain network services. The solution disclosed in the present invention can be applied to a device or object authorized by the network, or a device or object not authorized by the network.

[0071] The second perception device, for example, a base station or a terminal device, can send the first message to the first perception device after acquiring the third perception data.

[0072] In some embodiments, the first message includes at least one of the third perception data and the perception parameter of the perception target. For example, the first message includes the third perception data, or the first message includes the perception parameter, or the first message includes both the third perception data and the perception parameter.

[0073] The third perception data includes at least one of third perception measurement data and third perception results.

[0074] For another example, the third perception data includes at least one of the perception data of the third historical moment of the perception target, the perception data of the third current moment, and the perception data of the third future moment. The perception data includes at least one of the perception measurement data and the perception result. The perception measurement data is the data obtained by the perception device receiving the perception signal and performing corresponding signal processing. The perception result is the data obtained by further processing based on the perception measurement data and the perception application information.

[0075] The third historical perception measurement data includes: at least one of the time delay, Doppler frequency shift, angle, position, speed, and intensity of the sampling point at the third historical moment. The third historical perception result includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perception target at the third historical moment.

[0076] The sensing measurement data at the third current moment includes: at least one of the time delay, Doppler frequency shift, angle, position, speed, and intensity of the sampling point at the third current moment. The sensing result at the third current moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the sensing target at the third current moment.

[0077] The perception measurement data at the third future moment includes: at least one of the delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the third future moment. The perception result at the third future moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the third future moment. The perception data at the third future moment can be the perception data of the future moment obtained by analysis based on statistical methods, or it can be the perception data of the future moment predicted based on AI (Artificial Intelligence) methods.

[0078] In some embodiments, the perception parameter includes at least one of a service type, a service requirement, a perception area, perception target information, perception device information, a perception method, and information of a device receiving the perception data.

[0079] For example, service types include dynamic maps, speed detection, target tracking, etc.; service requirements include perception resolution (such as distance / speed / angle resolution), perception accuracy, refresh rate, target detection rate, target false alarm rate, perception area, detection speed range, duration, feedback cycle, latency, etc.; perception target information includes perception target type, perception target identification, etc.; perception node information includes base station, UE (User Equipment), etc.; perception methods include base station self-transmission and self-reception, base station A sends and base station B receives, etc.; node information receiving perception data includes SF-U (Sensing Function Userplane) IP and port number, etc.

[0080] In step S12, when the perception service request is accepted, a second message is sent to the second perception device, the second message including the first perception data of the perception target and at least one item of the first information, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

[0081] In some embodiments, the first sensing device provides services to the sensing target when accepting the sensing service request. Alternatively, the first sensing device provides services to the sensing target when accepting the sensing service request and determining that the target sensed by the first sensing device and the target sensed by the second sensing device are the same sensing target.

[0082] In some embodiments, the first sensing device determines whether to accept or reject the sensing service request based on at least one of the sensing capability, sensing resources, and operating status of the first sensing device.

[0083] For example, the perception capability of the first perception device refers to whether the first perception device has the ability to provide perception services, or whether it has a perception function. The perception resources of the first perception device refer to the consumption resources, computing resources, or wireless resources of the first perception device. The first perception device determines whether to accept or reject the perception service request based on whether the resources of the first perception device can provide perception services. The operating status of the first perception device refers to whether the first perception device is operating normally, whether it is in the on state or the off state, how much power is on, etc.

[0084] If the first sensing device accepts the sensing service request, it sends a message of accepting the sensing service request to the second sensing device, and obtains the first sensing data of the sensing target. If the first sensing device does not accept the sensing service request, it sends a message of not accepting the sensing service request to the second sensing device, and does not execute the subsequent steps.

[0085] In some embodiments, the first sensing device directly sends the first sensing data to the second sensing device, or sends the first information to the second sensing device, or sends the first sensing data and the first information to the second sensing device. The first sensing data includes at least one of the first sensing measurement data and the first sensing result.

[0086] The first sensing device compares the first sensing data and the third sensing data of the sensing target, and can determine whether the target sensed by the first sensing device and the target sensed by the second sensing device are the same sensing target, thereby supporting continuous tracking of the same moving target.

[0087] The first perception data includes at least one of the perception data of the first historical moment of the perception target, the perception data of the first current moment, and the perception data of the first future moment. The perception data includes at least one of the perception measurement data and the perception result.

[0088] The first historical perception measurement data includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the first historical moment. The first historical perception result includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the first historical moment. The first current moment perception measurement data includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the first current moment. The first current moment perception result includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the first current moment. The first current moment and the third current moment differ in that the perception moment is different. The first future moment perception measurement data includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the first future moment. The first future moment perception result includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the first future moment. The perception data at the first future moment may be the perception data at the future moment obtained by analysis based on a statistical method, or may be the perception data at the future moment obtained by prediction based on an AI method.

[0089] In the above embodiment, after receiving the perception service request for the perception target sent by the second perception device, the first perception device can track the same perception target, thereby achieving the purpose of continuously tracking the same perception target and further improving the continuity of the perception service.

[0090] In other embodiments of the present disclosure, Figure 2 As shown, the perceptual communication method also includes step S13.

[0091] In step S13, a third message sent by the second perception device is received, wherein the third message includes at least one of second perception data of the perception target, second information, third information and fourth information, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

[0092] When the third message includes information that the second sensing device is about to stop the sensing service, the first sensing device provides a service to the sensing target.

[0093] If the second perception device determines that it is about to stop the perception service for the perception target, it will send a message to the first perception device in time, so that the first perception device can provide services to the perception target in time, reducing the probability of perception service interruption.

[0094] If the second sensing device does not send information about stopping the sensing service, the second sensing device can still provide the sensing service for the sensing target.

[0095] In some embodiments, the second perception data includes at least one of second perception measurement data and a second perception result.

[0096] In some embodiments, the second sensing device acquires second sensing data of the sensing target, the second sensing data including at least one of sensing data of a second historical moment of the sensing target, sensing data of a second current moment, and sensing data of a second future moment. The sensing data includes at least one of sensing measurement data and sensing results.

[0097] The perception measurement data of the second history includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the second historical moment. The perception result of the second history includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perception target at the second historical moment. The perception measurement data of the second current moment includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the second current moment. The perception result of the second current moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perception target at the second current moment. The difference between the second current moment and the first current moment and the third current moment is that the perception moment is different. The perception measurement data of the second future moment includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the second future moment. The perception result of the second future moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perception target at the second future moment. The perception data at the second future moment may be the perception data at the future moment obtained by analysis based on a statistical method, or may be the perception data at the future moment obtained by prediction based on an AI method.

[0098] By comparing the second perception data with the first perception data, the second perception device can secondarily determine whether the perceived target is the same perception target as the target perceived by the first perception device.

[0099] In some embodiments, when the second information indicates a secondary confirmation that the target perceived by the second perception device and the target perceived by the first perception device are not the same perception target, the first perception device reacquires the first perception data of the perception target.

[0100] For example, the first perception device reacquires the perception data based on the received second perception data, and then sends the second message to the second perception device again to confirm the perception target.

[0101] In some embodiments, the first sensing device determines the time to provide services to the sensing target based on the time information when the second sensing device is about to stop the sensing service.

[0102] In the above embodiment, when the first perception device accepts the perception service request sent by the second perception device, it sends a second message to the second perception device, which enables the second perception device to respond, thereby further enhancing the continuous tracking of the same mobile target by the two perception devices, so that the perception service can be carried out continuously.

[0103] If the second sensing device is about to stop the sensing service, the first sensing device can provide services to the sensing target in a timely manner, thereby achieving continuous tracking of the sensing target and reducing the probability of interruption of the sensing service.

[0104] Below, the solution of the present disclosure will be introduced by taking a specific embodiment as an example.

[0105] Figure 3 It is a flowchart diagram of other embodiments of the perceptual communication method disclosed in the present invention, including steps S31-S38.

[0106] In step S31, the second sensing device sends a first message for requesting a sensing service to the first sensing device, where the first message includes a sensing parameter.

[0107] The first sensing device decides whether to accept or reject the sensing service request based on the sensing parameters and its own sensing capabilities, sensing resources, and operating status.

[0108] In step S32, the first sensing device sends a request to the second sensing device to accept the sensing service.

[0109] In step S33, the first sensing device acquires first sensing data of the sensing target.

[0110] In step S34, the second sensing device acquires second sensing data of the sensing target.

[0111] Step S33 and step S34 may be executed simultaneously or in any order.

[0112] In step S35, the first sensing device sends a second message to the second sensing device, where the second message includes the first sensing data.

[0113] In step S36, the second sensing device compares the first sensing data with the second sensing data to determine whether the targets sensed by the two sensing devices are the same sensing target.

[0114] In step S37, if they are the same perception target, the second perception device sends a third message to the first perception device, where the third message includes indication information that the second perception device is about to stop the perception service.

[0115] In step S38, the first sensing device provides a sensing service to the sensing target.

[0116] Figure 4 It is a flowchart diagram of other embodiments of the perceptual communication method disclosed in the present invention, including steps S41-S48.

[0117] In step S41, the second sensing device acquires third sensing data of the sensing target.

[0118] In step S42, the second sensing device sends a first message for requesting a sensing service to the first sensing device, where the first message includes third sensing data.

[0119] In step S43, the first sensing device sends a request to the second sensing device to accept the sensing service.

[0120] In step S44, the first sensing device acquires first sensing data of the sensing target.

[0121] In step S45, the first perception device determines whether the target perceived by the second perception device is the same as the target perceived by the first perception device by comparing the third perception data with the first perception data.

[0122] In step S46, the first sensing device sends a second message to the second sensing device, where the second message includes indication information for initially confirming that the target sensed by the second sensing device and the target sensed by the first sensing device are the same sensing target.

[0123] In step S47, the second sensing device sends a third message to the first sensing device, where the third message includes instruction information of the second sensing device stopping the sensing service and time information of stopping the sensing service.

[0124] In step S48, the first sensing device provides a sensing service to the sensing target at a predetermined time.

[0125] Figure 5 It is a flowchart diagram of other embodiments of the perceptual communication method disclosed in the present invention, including steps S51-S510.

[0126] In step S51, the second sensing device acquires third sensing data of the sensing target.

[0127] In step S52, the second sensing device sends a first message for requesting a sensing service to the first sensing device, where the first message includes third sensing data.

[0128] In step S53, the first sensing device sends a sensing service acceptance request to the second sensing device.

[0129] In step S54, the first sensing device acquires first sensing data of the sensing target.

[0130] In step S55, the second sensing device acquires second sensing data of the sensing target.

[0131] Step S54 and step S55 may be executed simultaneously or in any order.

[0132] In step S56, the first perception device determines whether the target perceived by the second perception device is the same as the target perceived by the first perception device by comparing the third perception data with the first perception data.

[0133] In step S57, the first sensing device sends a second message to the second sensing device, where the second message includes the first sensing data and indication information for initially confirming that the target sensed by the second sensing device is the same as the target sensed by the first sensing device.

[0134] In step S58, the second sensing device compares the first sensing data with the second sensing data to determine whether the targets sensed by the two sensing devices are the same sensing target.

[0135] In step S59, if they are the same perception target, the second perception device sends a third message to the first perception device, where the third message includes instruction information for the second perception device to stop the perception service and instruction information for determining that the targets perceived by the two perception devices are the same perception target.

[0136] In step S510, the first sensing device provides a sensing service to the sensing target.

[0137] Figure 6 It is a flowchart diagram of other embodiments of the perceptual communication method disclosed in the present invention, including steps S61-S69.

[0138] In step S61, the second sensing device acquires third sensing data of the sensing target.

[0139] In step S62, the second sensing device sends a first message for requesting a sensing service to the first sensing device, where the first message includes third sensing data.

[0140] In step S63, the first sensing device sends a request to the second sensing device to accept the sensing service.

[0141] In step S64, the first sensing device acquires first sensing data of the sensing target.

[0142] In step S65, the second sensing device acquires second sensing data of the sensing target.

[0143] In step S66, the first perception device determines whether the target perceived by the second perception device is the same as the target perceived by the first perception device by comparing the third perception data with the first perception data.

[0144] In step S67, if it is the same perception target, the first perception device sends a second message to the second perception device, where the second message includes the first perception data and indication information for initially confirming that the target perceived by the second perception device is the same perception target as the target perceived by the first perception device.

[0145] In step S68, the second sensing device compares the first sensing data with the second sensing data to determine whether the targets sensed by the two sensing devices are the same sensing target.

[0146] In step S69, if they are not the same perception target, the second perception device sends a third message to the first perception device, where the third message includes the second perception data and indication information for secondary confirmation that the targets perceived by the two perception devices are not the same perception target, and then step S64 is continued.

[0147] Figure 7 It is a flowchart diagram of other embodiments of the perceptual communication method disclosed in the present invention, including steps S71-S79.

[0148] In step S71, the second sensing device acquires third sensing data of the sensing target.

[0149] In step S72, the second sensing device sends a first message for requesting a sensing service to the first sensing device, where the first message includes third sensing data.

[0150] In step S73, the first sensing device sends a request to the second sensing device to accept the sensing service.

[0151] The first perception device determines whether to accept the perception service request based on the third perception data.

[0152] In step S74, the first sensing device acquires first sensing data of the sensing target.

[0153] In step S75, the second sensing device acquires second sensing data of the sensing target.

[0154] Step S74 and step S75 may be executed simultaneously or in any order.

[0155] In step S76, the first sensing device sends a second message to the second sensing device, where the second message includes the first sensing data.

[0156] In step S77, the second sensing device compares the first sensing data with the second sensing data to determine whether the targets sensed by the two sensing devices are the same sensing target.

[0157] In step S78, if they are the same perception target, the second perception device sends a third message to the first perception device, where the third message includes information that the second perception device is about to stop the perception service.

[0158] In step S79, the first sensing device provides a sensing service to the sensing target.

[0159] Figure 8 It is a flowchart diagram of other embodiments of the perceptual communication method disclosed in the present invention, including steps S81-S89.

[0160] In step S81, the second sensing device acquires third sensing data of the sensing target.

[0161] In step S82, the second sensing device sends a first message for requesting a sensing service to the first sensing device, where the first message includes third sensing data and a sensing parameter.

[0162] In step S83, the first sensing device sends a request to the second sensing device to accept the sensing service.

[0163] If the first sensing device does not accept the sensing service request, a rejection of the sensing service request is sent to the second sensing device, and subsequent steps are not executed.

[0164] In step S84, the first sensing device acquires first sensing data of the sensing target.

[0165] In step S85, the second sensing device obtains second sensing data of the sensing target.

[0166] In step S86, the first perception device determines whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device by comparing the third perception data with the first perception data.

[0167] In step S87, if it is the same perception target, the first perception device sends a second message to the second perception device, and the second message includes the first perception data and indication information for initially confirming that the target perceived by the second perception device is the same perception target as the target perceived by the first perception device.

[0168] In step S88, the second perception device compares the first perception data and the second perception data to determine whether the targets perceived by the two perception devices are the same perception target.

[0169] In step S89, if they are the same perception target, the second perception device sends a third message to the first perception device, and the third message includes second perception data, second indication information determining that the targets perceived by the two perception devices are the same perception target, third indication information that the second perception device is about to stop the perception service, and fourth indication information including the time information that the second perception device is about to stop the perception service.

[0170] In step S810, the first sensing device provides a sensing service to the sensing target.

[0171] In the above embodiments, when the perception target switches across perception devices or when the perception device changes, the perception parameters and perception data are exchanged between the perception devices, and the continuity of the perception service is ensured through the interaction and collaboration between the perception devices.

[0172] Fig. 9 It is a flowchart of some other embodiments of the perception communication method disclosed in the present invention. This embodiment is executed by the second perception device and includes steps S91-S92.

[0173] In step S91, a first message is sent to a first sensing device, where the first message is used to request a sensing service for a sensing target.

[0174] In some embodiments, the first message includes at least one of third sensing data and a sensing parameter of the sensing target. The third sensing data includes at least one of third sensing measurement data and a third sensing result.

[0175] The third perception data includes at least one of the perception data of the third historical moment of the perception target, the perception data of the third current moment, and the perception data of the third future moment. The perception data includes at least one of the perception measurement data and the perception result.

[0176] The third historical perception measurement data includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the third historical moment. The third historical perception result includes: at least one of the position information, trajectory information, speed information, shape information, and size information of the perceived target at the third historical moment. The perception measurement data of the third current moment includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the third current moment. The perception result of the third current moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the third current moment. The perception measurement data of the third future moment includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the third future moment. The perception result of the third future moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the third future moment. The perception data of the third future moment may be the perception data of the future moment obtained by analysis based on a statistical method, or the perception data of the future moment obtained by prediction based on an AI method.

[0177] The sensing target may be, for example, a device or object authorized by the network, or a device or object not authorized by the network.

[0178] In some embodiments, the perception parameter includes at least one of a service type, a service requirement, a perception area, perception target information, perception device information, a perception method, and information of a device receiving the perception data.

[0179] For example, service types include dynamic maps, speed detection, target tracking, etc.; service requirements include perception resolution (such as distance / speed / angle resolution), perception accuracy, refresh rate, target detection rate, target false alarm rate, perception area, detection speed range, duration, feedback cycle, latency, etc.; perception target information includes perception target type, perception target identification, etc.; perception node information includes base station, UE, etc.; perception methods include base station self-transmission and self-reception, base station A sends and base station B receives, etc.; node information receiving perception data includes SF-U IP and port number, etc.

[0180] In step S92, a second message sent by the first perception device is received, where the second message includes first perception data of the perception target and at least one item of the first information, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

[0181] If the first perception device accepts the perception service request, it sends a message of accepting the perception service request to the second perception device. After receiving the request sent by the first perception device, the second perception device obtains the second perception data.

[0182] The first perception data includes at least one of the perception data of a first historical moment of the perception target, the perception data of a first current moment, and the perception data of a first future moment.

[0183] The first historical perception measurement data includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the first historical moment. The first historical perception result includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the first historical moment. The perception measurement data of the first current moment includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the first current moment. The perception result of the first current moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the first current moment. The difference between the first current moment and the third current moment is that the perception moment is different. The perception measurement data of the first future moment includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the first future moment. The perception result of the first future moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the first future moment. The perception data of the first future moment may be the perception data of the future moment obtained by analysis based on statistical methods, or may be the perception data of the future moment obtained by prediction based on AI methods.

[0184] In other embodiments of the present disclosure, Fig.10 As shown, the perceptual communication method also includes step S93.

[0185] In step S93, a third message is sent to the first perception device, wherein the third message includes at least one of the second perception data of the perception target, the second information, the third information and the fourth information, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

[0186] In some embodiments, the second sensing device reacquires the second sensing data of the sensing target after secondarily confirming that the target sensed by the second sensing device and the target sensed by the first sensing device are not the same sensing target.

[0187] The second perception data includes at least one of the perception data of the second historical moment of the perception target, the perception data of the second current moment, and the perception data of the second future moment. The perception data includes at least one of the perception measurement data and the perception result.

[0188] The second historical perception measurement data includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the second historical moment. The second historical perception result includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the second historical moment. The perception measurement data of the second current moment includes: at least one of the time delay, Doppler shift, angle, position, speed, and intensity of the sampling point at the second current moment. The perception result of the second current moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the second current moment. The difference between the second current moment and the first current moment and the second current moment is that the perception moment is different. The perception measurement data of the second future moment includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information of the perceived target at the second future moment. The perception data of the second future moment can be the perception data of the future moment obtained by analysis based on a statistical method, or it can be the perception data of the future moment predicted based on an AI method.

[0189] By comparing the second perception data with the first perception data, the second perception device can secondarily determine whether the perceived target is the same perception target as the target perceived by the first perception device.

[0190] In the above embodiment, the second sensing device sends a sensing service request to the first sensing device, and after receiving the second message sent by the first sensing device, further determines and sends a third message, thereby further enhancing the continuous tracking of the same mobile target by the two sensing devices, so that the sensing service is carried out continuously. When the second sensing device is about to stop the sensing service for the sensing target, the sensing target can be provided with sensing service by the first sensing device in time, thereby improving the continuity of the sensing service.

[0191] In some other embodiments of the present disclosure, the perception target sends perception data to at least one of the first perception device and the second perception device, so that the first perception device and the second perception device can ensure the continuity of the perception service through interactive collaboration.

[0192] Fig.11 It is a structural schematic diagram of some embodiments of the perception communication device disclosed in the present invention. The perception communication device is located in a first perception device and includes a first processing unit 1110 and a second processing unit 1120.

[0193] The first processing unit 1110 is configured to receive a first message sent by the second sensing device, where the first message is used to request a sensing service for a sensing target.

[0194] The first message includes at least one of third sensing data and a sensing parameter of the sensing target.

[0195] The third perception data includes at least one of the perception data of the third historical moment of the perception target, the perception data of the third current moment, and the perception data of the third future moment. The perception data includes at least one of the perception measurement data and the perception result. The perception measurement data includes at least one of the delay, Doppler shift, angle, position, speed, and intensity of the sampling point. The perception result includes at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

[0196] The perception parameters include at least one of service type, service requirement, perception target information, perception device information, perception mode, and information of a device receiving perception data.

[0197] The sensing target is a device or object authorized by the network, or a device or object not authorized by the network.

[0198] The first processing unit 1110 is also configured to reacquire first perception data of the perception target when the second information indicates that the target perceived by the second perception device is not the same perception target as the target perceived by the first perception device.

[0199] The second processing unit 1120 is configured to send a second message to the second perception device when accepting a perception service request, the second message including first perception data of a perception target and at least one item of the first information, wherein the first information is used to indicate whether the target perceived by the first perception device is the same perception target as the target perceived by the second perception device.

[0200] The second message includes at least one of first perception data of a perception target and first information, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

[0201] The first perception data includes at least one of the perception data of the first historical moment of the perception target, the perception data of the first current moment, and the perception data of the first future moment. The perception data includes at least one of the perception measurement data and the perception result. The perception measurement data includes at least one of the delay, Doppler shift, angle, position, speed, and intensity of the sampling point. The perception result includes: at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

[0202] The second processing unit 1120 is further configured to determine whether to accept or reject the perception service request based on at least one of the perception capability, perception resources, and operating status of the first perception device.

[0203] In other embodiments, the perception communication device also includes a third processing unit 1130, which is configured to receive a third message sent by a second perception device, wherein the third message includes at least one of second perception data of the perception target, second information, third information and fourth information, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

[0204] The second perception data includes at least one of the perception data of the second historical moment of the perception target, the perception data of the second current moment, and the perception data of the second future moment. The perception data includes at least one of the perception measurement data and the perception result. The perception measurement data includes at least one of the delay, Doppler shift, angle, position, speed, and intensity of the sampling point. The perception result includes at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

[0205] In the above embodiment, when the first sensing device receives the sensing service request sent by the second sensing device, it sends the second message to the second sensing device, so that the two sensing devices can perceive the same target and improve the continuity of the sensing service. In addition, the first sensing device can also receive the third message sent by the second sensing device, so that the two sensing devices can enhance the perception of the same target, thereby reducing the probability of the interruption of the sensing service.

[0206] Fig.12 It is a schematic diagram of the structure of some other embodiments of the perception communication device disclosed in the present invention. The perception communication device is located in the second perception device and includes a fourth processing unit 1212 and a fifth processing unit 1220.

[0207] The fourth processing unit 1212 is configured to send a first message to the first sensing device, where the first message is used to request a sensing service for a sensing target.

[0208] The sensing target is a device or object authorized by the network, or a device or object not authorized by the network.

[0209] In some embodiments, the first message includes at least one of third perception data and a perception parameter of the perception target.

[0210] The third perception data includes at least one of the perception data of the third historical moment of the perception target, the perception data of the third current moment, and the perception data of the third future moment. The perception measurement data includes at least one of the delay, Doppler shift, angle, position, speed, and intensity of the sampling point. The perception result includes at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

[0211] The perception parameters include at least one of service type, service requirement, perception target information, perception device information, perception mode, and information of a device receiving perception data.

[0212] The fourth processing unit 1212 is further configured to reacquire second perception data of the perception target when it is confirmed for the second time that the target perceived by the second perception device and the target perceived by the first perception device are not the same perception target.

[0213] The fifth processing unit 1220 is configured to receive a second message sent by the first perception device, the second message including first perception data of a perception target and at least one item of first information, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

[0214] The first perception data includes at least one of the perception data of the first historical moment of the perception target, the perception data of the first current moment, and the perception data of the first future moment. The perception measurement data includes at least one of the delay, Doppler shift, angle, position, speed, and intensity of the sampling point. The perception result includes at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

[0215] In other embodiments, the perception communication device also includes a sixth processing unit 1230 configured to send a third message to the first perception device, wherein the third message includes at least one of second perception data of the perception target, second information, third information and fourth information, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

[0216] The second perception data includes at least one of the perception data of the second historical moment of the perception target, the perception data of the second current moment, and the perception data of the second future moment. The perception measurement data includes at least one of the delay, Doppler shift, angle, position, speed, and intensity of the sampling point. The perception result includes at least one of the position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

[0217] In other embodiments of the present disclosure, a perception communication device is protected, which is located in a perception target and includes a sending module configured to send perception data to at least one of a first perception device and a second perception device, so that the first perception device and the second perception device ensure the continuity of the perception service through interactive collaboration.

[0218] Fig.13 1 is a schematic diagram of the structure of some other embodiments of the perception communication device of the present disclosure. The perception communication device 1300 can be located in the first perception device, the second perception device or the perception target, and includes a memory 1310 and a processor 1320. Among them: the memory 1310 can be a disk, a flash memory or any other non-volatile storage medium. The memory is used to store the instructions in the above embodiments. The processor 1320 is coupled to the memory 1310 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller. The processor 1320 is used to execute the instructions stored in the memory.

[0219] In some embodiments, the processor 1320 is coupled to the memory 1310 via a BUS 1330. The sensory communication device 1300 can also be connected to an external storage device 1350 via a storage interface 1340 to call external data, and can also be connected to a network or another computer system (not shown) via a network interface 1360. No further details will be given here.

[0220] Fig.14 The present invention is a schematic diagram of the structure of some embodiments of the perceptual communication system of the present invention, wherein the perceptual communication system includes a perceptual communication device located in a first perceptual device 1410 and a perceptual communication device located in a second perceptual device 1420, wherein the first perceptual device 1410 and the second perceptual device 1420 may both be base stations. The perceptual communication devices in the first perceptual device 1410 and the second perceptual device 1420 have been described in the above embodiments and will not be further described here.

[0221] In other embodiments of the present disclosure, Fig.15 As shown, the perception communication system further includes a perception communication device located in a perception target 1510, and the perception target is a device or object authorized by the network, or a device or object not authorized by the network. The present disclosure can achieve continuous tracking of the perception target.

[0222] Fig.16This is a schematic diagram of the structure of some other embodiments of the perception communication system disclosed in the present invention. In this embodiment, the first perception device and the second perception device take a base station as an example, and the perception target takes an airplane as an example. The first perception device and the second perception device can both send perception signals to the perception target and receive perception signals. When the perception target moves, for example, if the perception target flies from the perception area of ​​the second perception device to the perception area of ​​the second perception device. The second perception device sends a perception service request to the first perception device, and the first perception device can accept or reject the perception service request, and through the interaction and collaboration between the two, continuous tracking of the perception target can be achieved, thereby ensuring the continuity of the perception service.

[0223] In other embodiments, a computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the steps of the method in the above-mentioned embodiment. It should be understood by those skilled in the art that the embodiments of the present disclosure may be provided as methods, devices, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0224] In some embodiments, a computer program product is protected, including a computer program or an instruction, which implements the above method when the computer program or instruction is executed by a processor. The computer program product includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by the CPU, the above functions defined in the method of the embodiment of the present disclosure are executed.

[0225] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0226] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0227] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0228] So far, the present disclosure has been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Based on the above description, those skilled in the art can fully understand how to implement the technical solution disclosed here.

[0229] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0230] Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A perception communication method, performed by a first perception device, comprising: receiving a first message sent by a second sensing device, where the first message is used to request a sensing service for a sensing target; When accepting the perception service request, a second message is sent to the second perception device, wherein the second message includes at least one of the first perception data and first information of the perception target, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

2. The perceptual communication method according to claim 1, further comprising: Receive a third message sent by the second perception device, wherein the third message includes at least one of the second perception data, second information, third information and fourth information of the perception target, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

3. The perceptual communication method according to claim 1, wherein: The first message includes at least one of third perception data and a perception parameter of the perception target.

4. The perceptual communication method according to claim 2, further comprising: When the second information indicates that the target perceived by the second perception device is not the same perception target as the target perceived by the first perception device, first perception data of the perception target is reacquired.

5. The perceptual communication method according to claim 1, wherein: The first perception data includes at least one of the perception data of the perception target at a first historical moment, the perception data at a first current moment, and the perception data at a first future moment.

6. The perceptual communication method according to claim 2, wherein: The second perception data includes at least one of perception data of the perception target at a second historical moment, perception data at a second current moment, and perception data at a second future moment.

7. The perceptual communication method according to claim 3, wherein: The third perception data includes at least one of the perception data of the perception target at a third historical moment, the perception data at a third current moment, and the perception data at a third future moment.

8. The perceptual communication method according to any one of claims 5 to 7, wherein: The perception data includes at least one of perception measurement data and perception results.

9. The perceptual communication method according to claim 8, wherein: The perception measurement data includes at least one of a time delay, a Doppler frequency shift, an angle, a position, a speed, and an intensity of a sampling point.

10. The perceptual communication method according to claim 8, wherein: The perception result includes at least one of position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

11. The perceptual communication method according to claim 3, wherein: The perception parameter includes at least one of a service type, a service requirement, a perception area, perception target information, perception device information, a perception method, and information of a device receiving perception data.

12. The perceptual communication method according to any one of claims 1 to 7 and 11, further comprising: Determine whether to accept or reject the perception service request based on at least one of the perception capability, perception resources, and operating status of the first perception device.

13. The perceptual communication method according to any one of claims 1 to 7 and 11, wherein: The sensing target is a device or object authorized by the network, or a device or object not authorized by the network.

14. A perceptual communication method, performed by a second perceptual device, comprising: Sending a first message to a first sensing device, where the first message is used to request a sensing service for a sensing target; Receive a second message sent by the first perception device, wherein the second message includes at least one of the first perception data and first information of the perception target, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

15. The perceptual communication method according to claim 14, further comprising: A third message is sent to the first perception device, wherein the third message includes at least one of the second perception data, second information, third information and fourth information of the perception target, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

16. The perceptual communication method according to claim 14, wherein: The first message includes at least one of third perception data and a perception parameter of the perception target.

17. The perceptual communication method according to claim 16, further comprising: When it is determined that the target perceived by the second perception device is not the same perception target as the target perceived by the first perception device, second perception data of the perception target is reacquired.

18. The perceptual communication method according to claim 14, wherein: The first perception data includes at least one of the perception data of the perception target at a first historical moment, the perception data at a first current moment, and the perception data at a first future moment.

19. The perceptual communication method according to claim 15, wherein: The second perception data includes at least one of perception data of the perception target at a second historical moment, perception data at a second current moment, and perception data at a second future moment.

20. The perceptual communication method according to claim 16, wherein: The third perception data includes at least one of the perception data of the perception target at a third historical moment, the perception data at a third current moment, and the perception data at a third future moment.

21. The perceptual communication method according to any one of claims 18 to 20, wherein: The perception data includes at least one of perception measurement data and perception results.

22. The perceptual communication method according to claim 21, wherein: The perception measurement data includes at least one of a time delay, a Doppler frequency shift, an angle, a position, a speed, and an intensity of a sampling point.

23. The perceptual communication method according to claim 21, wherein: The perception result includes at least one of position information, trajectory information, speed information, shape information, size information, and surrounding environment information.

24. The perceptual communication method according to claim 16, wherein: The perception parameter includes at least one of a service type, a service requirement, a perception area, perception target information, perception device information, a perception method, and information of a device receiving perception data.

25. The perceptual communication method according to any one of claims 14 to 20 and 24, wherein: The sensing target is a device or object authorized by the network, or a device or object not authorized by the network.

26. A sensing communication method, performed by a sensing target, comprising: Sending perception data to at least one of a first perception device and a second perception device, wherein the first perception device executes the perception communication method described in any one of claims 1 to 13, and the second perception device executes the perception communication method described in any one of claims 14 to 25.

27. A perception communication device, located in a first perception device, comprising: A first processing unit is configured to receive a first message sent by a second sensing device, where the first message is used to request a sensing service for a sensing target; The second processing unit is configured to send a second message to the second perception device when accepting a perception service request, wherein the second message includes at least one of the first perception data and first information of the perception target, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

28. The sensory communication device according to claim 27, further comprising: The third processing unit is configured to receive a third message sent by the second perception device, wherein the third message includes at least one of the second perception data, second information, third information and fourth information of the perception target, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

29. A perception communication device, located in a second perception device, comprising: A fourth processing unit is configured to send a first message to the first sensing device, where the first message is used to request a sensing service for a sensing target; The fifth processing unit is configured to receive a second message sent by the first perception device, wherein the second message includes at least one of the first perception data and first information of the perception target, wherein the first information is used to indicate whether the target perceived by the first perception device and the target perceived by the second perception device are the same perception target.

30. The sensory communication device according to claim 29, further comprising: The sixth processing unit is configured to send a third message to the first perception device, wherein the third message includes at least one of the second perception data, second information, third information and fourth information of the perception target, wherein the second information is used to indicate whether the target perceived by the second perception device is the same perception target as the target perceived by the first perception device, the third information is used to indicate whether the second perception device is about to stop the perception service, and the fourth information is used to indicate the time information when the second perception device is about to stop the perception service.

31. A sensing communication device, located at a sensing target, comprising: A sending module is configured to send perception data to at least one of a first perception device and a second perception device, wherein the first perception device executes the perception communication method described in any one of claims 1 to 13, and the second perception device executes the perception communication method described in any one of claims 14 to 25.

32. A perceptual communication system, comprising: The perceptual communication device as claimed in claim 29; as well as The sensory communication device as claimed in claim 30.

33. The perceptual communication system according to claim 32, further comprising: The perceptual communication device as claimed in claim 31.

34. A perceptual communication device, comprising: Memory; A processor coupled to the memory, wherein the processor is configured to execute the perceptual communication method according to any one of claims 1 to 26 based on instructions stored in the memory.

35. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the perceptual communication method as claimed in any one of claims 1 to 26.

36. A computer program product, comprising a computer program or instructions, wherein when the computer program or instructions are executed by a processor, the perceptual communication method according to any one of claims 1 to 26 is implemented.

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