Cooperative perception integrity monitoring method, apparatus and device, and readable storage medium

Abstract

The embodiment of the invention provides a cooperative sensing integrity monitoring method, device and equipment and a readable storage medium, and the method comprises the steps that a first node sends sensing information and first information to a second node, the sensing information is used for calculating the integrity of the second node, the first information comprises the integrity of the first node, and the first information is used for calculating the integrity of the second node; the integrity of the second node and the first information are used for determining second information; and the first node receives second information sent by a second node, wherein the second information is used for indicating information for adjusting integrity with the second node and / or the first node.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and specifically to a method, apparatus, device and readable storage medium for collaborative sensing integrity monitoring. Background Art

[0002] Integrity is an important indicator to measure the reliability of the positioning perception system, also known as confidence, completeness, reliability, etc. Integrity has two functions: one is to characterize the degree of trust in the accuracy of the location-related data provided by the system; the other is to characterize the system's ability to accurately issue an alarm when the location service requirements are not met. The key performance indicators (KPIs) of integrity include target integrity risk (TIR), alert limit (AL), time-to-alert (TTA), protection level (PL), positioning error (PE), integrity availability (IA), etc.

[0003] In the existing fifth generation mobile communication technology (5G) positioning method, the integrity monitoring process is mainly used for assisted global navigation satellite system (A-GNSS) and radio access technology-dependent (RAT-dependent) positioning systems. For A-GNSS, the integrity of multiple nodes interacting through the location management function (LMF) will bring about the defect of poor real-time performance, resulting in the inability to provide reliable perception services. RAT-dependent positioning improves the defect that integrity monitoring in A-GNSS positioning must rely on LMF, and the integrity interaction can also be carried out directly between the sending node and the receiving node. However, in the RAT-dependent positioning system, the terminal is not only a receiving or sending node, but also a positioning target. Therefore, the RAT-dependent positioning system only needs to calculate the integrity of one node. For the collaborative perception system, the sending and receiving nodes are not co-located, the perception target may be an off-network object, and the integrity of the sending node and the receiving node may be inconsistent. If the integrity monitoring method in the RAT-dependent positioning system is still used, that is, only the integrity of the node on one side is considered, reliable perception services may not be provided due to the inconsistency between the integrity of the sending node and the receiving node. Summary of the invention

[0004] The embodiments of the present application provide a method, apparatus, device and readable storage medium for collaborative perception integrity monitoring to solve the problem of how to ensure consistency of integrity between nodes.

[0005] In a first aspect, a method for collaborative sensing integrity monitoring is provided, which is applied to a first node and includes:

[0006] Sending perception information and first information to a second node, where the perception information is used to calculate the integrity of the second node, where the first information includes the integrity of the first node, where the integrity of the second node and the first information are used to determine second information, where the integrity includes at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode;

[0007] Second information sent by a second node is received, where the second information is used to indicate information for adjusting integrity with the second node and / or the first node.

[0008] Optionally, the second information includes at least one of the following:

[0009] the integrity of the second node;

[0010] third information, where the third information is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation;

[0011] Fourth information, where the fourth information is used to indicate that the first node needs to perform an integrity adjustment operation, or indicates that the first node does not need to perform an integrity adjustment operation.

[0012] Optionally, the integrity is represented by at least one of: an integrity value, a range of integrity values.

[0013] Optionally, the integrity value is a specific numerical value of at least one integrity parameter, or the integrity value is a specific integrity level divided according to a numerical range of at least one integrity parameter.

[0014] Optionally, the integrity value range is a set consisting of at least one numerical value of at least one integrity parameter, or the integrity value range is a set consisting of at least one integrity level of at least one integrity parameter.

[0015] Optionally, the third information is represented by a 1-bit symbol. When the value of the third information is a first value, the third information indicates that the second node performs an integrity adjustment operation. When the value of the third information is a second value, the third information indicates that the second node does not perform an integrity adjustment operation.

[0016] Optionally, the fourth information is represented by 1 bit. When the value of the fourth information is the third value, the fourth information indicates that the first node needs to perform an integrity adjustment operation. When the value of the fourth information is the fourth value, the fourth information indicates that the first node does not need to perform an integrity adjustment operation.

[0017] Optionally, after receiving the second information, the method further includes:

[0018] Send fifth information to the second node, where the fifth information is used to indicate whether the integrity of the first node is adjusted according to the integrity of the second node.

[0019] Optionally, the fifth information is used to indicate that the integrity of the first node is adjusted to be consistent with the integrity of the second node, or the fifth information is used to indicate that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

[0020] Optionally, the fifth information is represented by 1 bit. When the value of the fifth information is the fifth value, the fifth information indicates that the integrity of the first node is adjusted to be consistent with the integrity of the second node. When the value of the fifth information is the sixth value, the fifth information indicates that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

[0021] In a second aspect, a method for collaborative sensing integrity monitoring is provided, which is applied to a second node and includes:

[0022] receiving sensing information and first information sent by a first node, the sensing information being used to calculate the integrity of the second node, the first information including the integrity of the first node, the integrity including at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode;

[0023] Determining the integrity of the second node according to the perception information;

[0024] Determining the second information according to the integrity of the second node and the first information;

[0025] Second information is sent to the first node, where the second information is used to indicate information for adjusting integrity with the second node and / or the first node.

[0026] Optionally, the second information includes at least one of the following:

[0027] the integrity of the second node;

[0028] third information, where the third information is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation;

[0029] Fourth information, where the fourth information is used to indicate that the first node needs to perform an integrity adjustment operation, or indicates that the first node does not need to perform an integrity adjustment operation.

[0030] Optionally, the integrity is represented by at least one of: an integrity value, a range of integrity values.

[0031] Optionally, the integrity value is a specific numerical value of at least one integrity parameter, or the integrity value is a specific integrity level divided according to a numerical range of at least one integrity parameter.

[0032] Optionally, the integrity value range is a set consisting of at least one numerical value of at least one integrity parameter, or the integrity value range is a set consisting of at least one integrity level of at least one integrity parameter.

[0033] Optionally, the third information is represented by 1 bit. When the value of the third information is a first value, the third information indicates that the second node performs an integrity adjustment operation. When the value of the third information is a second value, the third information indicates that the second node does not perform an integrity adjustment operation.

[0034] Optionally, the fourth information is represented by 1 bit. When the value of the fourth information is the third value, the fourth information indicates that the first node needs to perform an integrity adjustment operation. When the value of the fourth information is the fourth value, the fourth information indicates that the first node does not need to perform an integrity adjustment operation.

[0035] Optionally, after sending the second information to the first node, the method further includes:

[0036] Fifth information sent by the first node is received, where the fifth information is used to indicate whether the integrity of the first node is adjusted according to the integrity of the second node.

[0037] Optionally, the fifth information is used to indicate that the integrity of the first node is adjusted to be consistent with the integrity of the second node, or the fifth information is used to indicate that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

[0038] Optionally, the fifth information is represented by 1 bit. When the value of the fifth information is the fifth value, the fifth information indicates that the integrity of the first node is adjusted to be consistent with the integrity of the second node. When the value of the fifth information is the sixth value, the fifth information indicates that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

[0039] In a third aspect, a collaborative sensing integrity monitoring device is provided, which is applied to a first node and includes:

[0040] A first sending module, configured to send perception information and first information to a second node, wherein the perception information is used to calculate the integrity of the second node, the first information includes the integrity of the first node, the integrity of the second node and the first information are used to determine the second information, and the integrity includes at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode;

[0041] The first receiving module is used to receive second information sent by a second node, where the second information is used to indicate information for adjusting integrity with the second node and / or the first node.

[0042] In a fourth aspect, a collaborative sensing integrity monitoring device is provided, which is applied to a second node and includes:

[0043] a second receiving module, configured to receive the sensing information and the first information sent by the first node, the sensing information being used to calculate the integrity of the second node, the first information comprising the integrity of the first node, the integrity comprising at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode;

[0044] A first determining module, configured to determine the integrity of the second node according to the perception information;

[0045] A second determining module, configured to determine the second information according to the integrity of the second node and the first information;

[0046] The third sending module is used to send second information to the first node, where the second information is used to indicate information for adjusting integrity with the second node and / or the first node.

[0047] In a fifth aspect, a communication device is provided, comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect or the second aspect.

[0048] In a sixth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect or the second aspect are implemented.

[0049] In the present application, the first node can send first information to the second node, and the first information is used to indicate the integrity of the first node, so that the second node can ensure the consistency of the integrity between the second node and the first node according to the first information, and the first node can receive second information from the second node, and the second information is used to indicate information related to the adjustment of the integrity of the second node and / or the first node, so that the first node can obtain the integrity of the second node and / or obtain the operation related to the adjustment of the integrity of the first node indicated by the second node, so that the first node can ensure the consistency of the integrity between the first node and the second node according to the second information. Through the above operations, the integrity of the first node and the second node can be guaranteed to be consistent, avoiding problems such as collaboration failure and unreliable collaborative perception results due to inconsistent integrity, and thus providing highly reliable perception services. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0051] Figure 1 A-GNSS positioning information transmission process

[0052] Figure 2 It is a flow chart of RAT-dependent positioning integrity transfer;

[0053] Figure 3a It is a schematic diagram of a lower integrity of the receiving node;

[0054] Figure 3b It is a schematic diagram of a lower integrity of the sending node;

[0055] Figure 3c It is a schematic diagram of an integrity failure event that occurs in both the transmitting and receiving nodes;

[0056] Figure 4 It is one of the flow charts of the method for collaborative sensing integrity monitoring provided by an embodiment of the present application;

[0057] Figure 5 This is the second flowchart of the method for collaborative sensing integrity monitoring provided by an embodiment of the present application;

[0058] Figure 6 This is the third flowchart of the method for collaborative sensing integrity monitoring provided by an embodiment of the present application;

[0059] Figure 7 This is the fourth flowchart of the method for collaborative sensing integrity monitoring provided by an embodiment of the present application;

[0060] Figure 8 This is the fifth flowchart of the method for collaborative sensing integrity monitoring provided by an embodiment of the present application;

[0061] Fig. 9 This is the sixth flowchart of the method for collaborative sensing integrity monitoring provided by an embodiment of the present application;

[0062] Fig.10 It is one of the schematic diagrams of the apparatus for collaborative sensing integrity monitoring provided by an embodiment of the present application;

[0063] Fig.11 This is a second schematic diagram of the apparatus for collaborative sensing integrity monitoring provided in an embodiment of the present application;

[0064] Fig.12 It is a schematic diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] The term "comprise" and any variation thereof in the specification and claims of the present application are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. In addition, the use of "and / or" in the specification and claims to indicate at least one of the connected objects, such as A and / or B, means that A alone, B alone, and A and B exist in three cases.

[0067] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0068] In order to facilitate understanding of the embodiments of the present application, the following technical points are first introduced:

[0069] (1) About integrity KPI.

[0070] The meaning of integrity KPI is shown in Table 1.

[0071]

[0072]

[0073] Table 1: Integrity KPIs.

[0074] (2) About the A-GNSS positioning integrity position information transmission process.

[0075] The concept of integrity originated from the Global Navigation Satellite System (GNSS), which aims to solve the dangers that may occur when the GNSS positioning performance is degraded due to factors such as low satellite visibility, multipath effects, interference and attenuation. In the relevant technologies of the third generation partnership project (3GPP), the integrity monitoring method and process of A-GNSS positioning are specified:

[0076] "Whether in UE-assisted mode or UE-based mode, integrity-related assistance data is delivered to the UE by the Location Management Function (LMF). Figure 1 As shown:

[0077] The location information in step 1 may include integrity requirements, and the location information in step 2 may include integrity results corresponding to the measured location. "

[0078] (3) About the RAT-dependent positioning integrity transfer process.

[0079] Integrity is not only applicable to A-GNSS positioning, but also to RAT-dependent positioning. The existing RAT-dependent positioning integrity monitoring methods and processes are:

[0080] The second node determines the integrity KPI and sends the KPI to the first node. The first node receives the integrity KPI, performs positioning measurements, obtains an estimate of its own position, and then monitors and calculates the integrity KPI. Figure 2 shown.

[0081] like Figure 3a , Figure 3b and Figure 3cAs shown in the figure, in the collaborative sensing system, after the positioning signal sent by the sending node reaches the target, the echo signal reflected by the target is received by the receiving node. Due to the different degrees of errors such as internal faults of the sending and receiving nodes, antenna calibration, timing errors, noise interference, and non-line of sight (NLOS) / multipath on the two paths of the sending node-target and the target-receiving node, the integrity of the two sides may be different. If the integrity calculation is performed only on one side, the calculation result cannot represent the integrity of the other side, so it is necessary to perform integrity calculation on both sides. And when the integrity calculation results are inconsistent, perform integrity adjustment operations to make the integrity of both sides consistent and jointly provide reliable perception services.

[0082] See also Figure 4 , an embodiment of the present application provides a method for cooperative sensing integrity monitoring, which is applied to a first node, and the specific steps include:

[0083] Step 401: Sending perception information and first information to a second node, wherein the perception information is used to calculate the integrity of the second node, the first information includes the integrity of the first node, and the integrity of the second node and the first information are used to determine second information;

[0084] Optionally, the integrity includes at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, failure mode, wherein the integrity limit includes the integrity limit mean or the integrity limit variance.

[0085] For example, the first node can obtain a target measurement quantity, which includes but is not limited to at least one of distance, angle, speed, longitude and latitude. The first node can calculate the error based on the target measurement quantity and the perception information of the perception estimation, construct an error indicator, calculate PL based on the different distributions of different error sources from the given false alarm rate and missed alarm rate, calculate TTA, TIR, IA and other integrity KPIs based on the relationship between PL and AL, and then determine the integrity of the first node.

[0086] Step 402: Receive second information sent by a second node, where the second information is used to indicate information for adjusting integrity with the second node and / or the first node.

[0087] Optionally, the first node is a terminal and the second node is a network side device, or the first node is a network side device and the second node is a terminal, or the first node is a first terminal and the second node is a second terminal, or the first node is a first network side device and the second node is a second network side device.

[0088] Optionally, methods for acquiring the target measurement quantity include but are not limited to at least one of the following: ranging based on the time delay of the second node reference signal, speed measurement based on the frequency deviation and phase offset of the second node reference signal, and angle measurement based on the antenna beam information of the first node and / or the second node.

[0089] In one implementation of the present application, the second information includes at least one of the following:

[0090] (1) the integrity of the second node;

[0091] Optionally, the integrity is represented by at least one of: (a) an integrity value, (b) a range of integrity values.

[0092] Optionally, the integrity value is a specific numerical value (such as an integer) of at least one integrity parameter, or the integrity value is a specific integrity level divided according to a numerical range of at least one integrity parameter.

[0093] Optionally, the integrity value range is a set consisting of at least one numerical value of at least one integrity parameter, or the integrity value range is a set consisting of at least one integrity level of at least one integrity parameter.

[0094] For example, the integrity level (IL) is used to represent the integrity value, and the combination of integrity levels is used to represent the integrity value range. The numerical range of integrity parameters (including but not limited to integrity risk, residual risk, integrity limit, integrity limit, alarm threshold, alarm time, protection level, related time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, at least one of the failure mode) is divided into multiple integrity levels, such as L1, L2,..., LN. It can be understood that L1 represents the integrity of the first level,..., L2 represents the integrity of the second level, and LN represents the integrity of the Nth level. The higher the integrity level, the stricter the corresponding integrity requirement.

[0095] Optionally, the integrity value is represented by an integer (INTEGER), for example, the integrity value = 2, and the integrity value range is represented by an array of integer type, for example, the integrity value range = {2,3,4}. It can be understood that 2 indicates that the integrity value is the second level, 3 indicates that the integrity level is the third level, and 4 indicates that the integrity level is the fourth level.

[0096] Optionally, the integrity value is represented by an enumerated value, for example, the integrity value = L3, and the integrity value range is represented by an array of enumerated value type, for example, the integrity value range = {L3, L4, L5}.

[0097] (2) third information, where the third information is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation;

[0098] The third information may also be referred to as integrity adjustment result information or an identifier of the second node integrity adjustment result.

[0099] (3) Fourth information, where the fourth information is used to indicate that the first node needs to perform an integrity adjustment operation, or indicates that the first node does not need to perform an integrity adjustment operation.

[0100] The fourth information may also be referred to as integrity adjustment request information or an indication of whether the first node needs to adjust integrity.

[0101] In one embodiment of the present application, the third information is represented by a 1-bit symbol. When the value of the third information is a first value (for example, 1), the third information indicates that the second node performs an integrity adjustment operation. When the value of the third information is a second value (for example, 0), the third information indicates that the second node does not perform an integrity adjustment operation.

[0102] In one embodiment of the present application, the fourth information is represented by 1 bit. When the value of the fourth information is a third value (for example, 1), the fourth information indicates that the first node needs to perform an integrity adjustment operation. When the value of the fourth information is a fourth value (for example, 0), the fourth information indicates that the first node does not need to perform an integrity adjustment operation.

[0103] In one implementation of the present application, after receiving the second information, the method further includes:

[0104] Send fifth information to the second node, where the fifth information is used to indicate whether the integrity of the first node is adjusted according to the integrity of the second node.

[0105] In one embodiment of the present application, the fifth information is used to indicate that the integrity of the first node is adjusted to be consistent with the integrity of the second node, or the fifth information is used to indicate that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

[0106] The fifth information may also be referred to as integrity adjustment feedback information.

[0107] In one embodiment of the present application, the fifth information is represented by 1 bit. When the value of the fifth information is the fifth value (for example, 1), the fifth information indicates that the integrity of the first node is adjusted to be consistent with the integrity of the second node, that is, the integrity of the adjusted first node is the same as the integrity of the second node, or the intersection of the adjusted integrity range of the first node and the integrity range of the second node is not empty.

[0108] When the value of the fifth information is the sixth value (for example, 0), the fifth information indicates that the integrity of the first node has not been adjusted to be consistent with the integrity of the second node.

[0109] The fact that the integrity of the first node is not adjusted to be consistent with the integrity of the second node includes: the integrity adjustment of the first node fails, or the first node does not expect (is unwilling) to adjust the integrity.

[0110] In the present application, the first node may send first information to the second node, and the first information is used to indicate the integrity of the first node, so that the second node can ensure the consistency of the integrity between the second node and the first node based on the first information. The first node can receive second information from the second node, and the second information is used to indicate information related to the adjustment of the integrity of the second node and / or the first node, so that the first node can obtain the integrity of the second node and / or obtain the operation of adjusting the integrity of the first node indicated by the second node. Through the above operations, the integrity of the first node and the second node can be guaranteed to be consistent, avoiding problems such as collaboration failure and unreliable collaborative perception results due to inconsistent integrity, and thus providing highly reliable perception services.

[0111] See also Figure 5 , an embodiment of the present application provides a method for cooperative sensing integrity monitoring, which is applied to a second node, and the specific steps include:

[0112] Step 501: receiving perception information and first information sent by a first node, wherein the perception information is used to calculate the integrity of the second node, and the first information includes the integrity of the first node;

[0113] Optionally, the integrity includes at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode.

[0114] Step 502: Determine the integrity of the second node according to the perception information;

[0115] Step 503: Determine the second information according to the integrity of the second node and the first information;

[0116] Step 504: Send second information to the first node, where the second information is used to indicate information for adjusting integrity with the second node and / or the first node.

[0117] In one implementation of the present application, the second information includes at least one of the following:

[0118] (1) the integrity of the second node;

[0119] Optionally, the integrity is represented by at least one of: an integrity value, a range of integrity values.

[0120] Optionally, the integrity value is a specific numerical value of at least one integrity parameter, or the integrity value is a specific integrity level divided according to a numerical range of at least one integrity parameter.

[0121] Optionally, the integrity value range is a set consisting of at least one numerical value of at least one integrity parameter, or the integrity value range is a set consisting of at least one integrity level of at least one integrity parameter.

[0122] (2) third information, where the third information is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation;

[0123] The third information may also be referred to as integrity adjustment result information.

[0124] (3) Fourth information, where the fourth information is used to indicate that the first node needs to perform an integrity adjustment operation, or indicates that the first node does not need to perform an integrity adjustment operation.

[0125] The fourth information may also be referred to as integrity adjustment request information.

[0126] In one embodiment of the present application, the third information is represented by 1 bit. When the value of the third information is a first value, the third information indicates that the second node performs an integrity adjustment operation. When the value of the third information is a second value, the third information indicates that the second node does not perform an integrity adjustment operation.

[0127] In one embodiment of the present application, the fourth information is represented by 1 bit. When the value of the fourth information is the third value, the fourth information indicates that the first node needs to perform an integrity adjustment operation. When the value of the fourth information is the fourth value, the fourth information indicates that the first node does not need to perform an integrity adjustment operation.

[0128] In one implementation of the present application, after sending the second information to the first node, the method further includes:

[0129] Fifth information sent by the first node is received, where the fifth information is used to indicate whether the integrity of the first node is adjusted successfully.

[0130] In one embodiment of the present application, the fifth information is used to indicate that the integrity of the first node is adjusted to be consistent with the integrity of the second node, or the fifth information is used to indicate that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

[0131] The fifth information may also be referred to as integrity adjustment feedback information.

[0132] In one embodiment of the present application, the fifth information is represented by 1 bit. When the value of the fifth information is the fifth value (for example, 1), the fifth information indicates that the integrity of the first node is adjusted to be consistent with the integrity of the second node, that is, the integrity of the adjusted first node is the same as the integrity of the second node, or the intersection of the adjusted integrity range of the first node and the integrity range of the second node is not empty.

[0133] When the value of the fifth information is the sixth value (for example, 0), the fifth information indicates that the integrity of the first node has not been adjusted to be consistent with the integrity of the second node, that is, the integrity of the adjusted first node is not the same as the integrity of the second node, or the intersection of the adjusted integrity range of the first node and the integrity range of the second node is not empty.

[0134] The fact that the integrity of the first node is not adjusted to be consistent with the integrity of the second node includes: the integrity adjustment of the first node fails, or the first node does not expect (is unwilling) to adjust the integrity.

[0135] In the present application, the second node receives the first information sent by the first node, and the first information is used to indicate the integrity of the first node, so that the second node can ensure the consistency of the integrity between the second node and the first node according to the first information. The second node sends the second information to the first node, and the second information is used to indicate the information related to the adjustment of the integrity of the second node and / or the first node, so that the first node can obtain the integrity of the second node and / or obtain the operation related to the adjustment of the integrity of the first node indicated by the second node, so that the first node can ensure the consistency of the integrity between the first node and the second node according to the second information. Through the above operation, the consistency of the integrity of the first node and the second node can be ensured, avoiding the problems of collaboration failure and unreliable collaboration perception results due to inconsistent integrity, and thus providing highly reliable perception services.

[0136] The implementation methods of the present application are introduced below in combination with Example 1, Example 2, Example 3, and Example 4.

[0137] Example 1

[0138] See also Figure 6 , the specific steps are as follows:

[0139] Step 601: The second node sends an integrity capability request message to the first node, where the integrity capability request message is used to request the first node to report its own integrity capability.

[0140] Step 602: The first node sends an integrity capability response message to the second node, where the integrity capability response message includes integrity capability information of the first node.

[0141] Step 603: The first node and the second node perform perception signaling configuration and target measurement to obtain a target measurement value.

[0142] Optionally, the target measurement includes but is not limited to at least one of distance, angle, speed, longitude and latitude, etc.

[0143] Step 604: The first node performs perception estimation according to the target measurement quantity, and calculates the integrity of the first node itself.

[0144] Optionally, the first node may calculate the error based on the target measurement and the results of the perception estimation, construct an error indicator, calculate PL from the given false alarm rate and missed alarm rate based on the different distributions of different error sources, calculate integrity KPIs such as TTA, TIR, and IA from the relationship between PL and AL, and then determine the integrity.

[0145] Optionally, the integrity includes at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode.

[0146] Optionally, the integrity value is a specific numerical value of at least one integrity parameter, or the integrity value is a specific integrity level divided according to a numerical range of at least one integrity parameter.

[0147] Optionally, the integrity value range is a set consisting of at least one numerical value of at least one integrity parameter, or the integrity value range is a set consisting of at least one integrity level of at least one integrity parameter.

[0148] For example, integrity is divided into levels L1, L2, ..., LN. The higher the integrity level, the stricter the corresponding integrity requirement.

[0149] Step 605: The first node provides the second node with the sensing information and the first information. The first information includes the integrity of the first node, and the integrity of the first node may be an exact level or a range of integrity levels supported by the first node.

[0150] Step 606: The second node obtains the perception information and the first information, and uses the perception information to calculate the integrity of the second node.

[0151] Step 607: The second node performs integrity comparison, where the integrity comparison refers to comparing the integrity of the first node in the first information with the integrity of the second node.

[0152] Step 608: The second node adjusts its own integrity according to the integrity comparison result in step 607, so that the integrity of the second node is consistent with that of the first node, or maintains its own integrity.

[0153] Step 609: The second node sends second information to the first node.

[0154] Optionally, the second information includes the integrity of the second node and an integrity adjustment flag of the second node, which is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation.

[0155] Optionally, the integrity of the second node can be an exact integrity level, or a range of integrity levels supported by the second node; the integrity of the second node is the second node's own integrity calculated by using the perception information, or the integrity adjusted according to the first information.

[0156] Optionally, the integrity adjustment identifier of the second node includes at least one of third information and fourth information, wherein the third information is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation, and the fourth information is used to indicate that the first node needs to perform an integrity adjustment operation, or indicates that the first node does not need to perform an integrity adjustment operation.

[0157] Step 610: The first node obtains the second information, maintains the original integrity or adjusts its own configuration so that the integrity of the first node is the same as the integrity of the second node in the second information.

[0158] Step 611: The first node sends fifth information to the second node;

[0159] Optionally, the fifth information includes the integrity adjustment flag of the first node, which is used to indicate whether the first node has adjusted its own integrity level to the same as the integrity level of the second node indicated in the second information, or the intersection of the level ranges is not empty.

[0160] Embodiment 2: The integrity calculated by the first node and the second node is the same (the integrity values ​​are the same, or the intersection of the integrity value ranges is not empty). The second node sends the second information to inform the first node.

[0161] See also Figure 7 , the specific steps are as follows:

[0162] Step 701, step 702, step 703: the first node and the second node perform an exchange of integrity capability information, perform perception signaling configuration and perception target measurement. The perception target measurement may be ranging based on the delay of the second node reference signal, and / or speed measurement based on the frequency offset and phase offset of the second node reference signal, and / or angle measurement based on the antenna beam information of the first node and / or the second node.

[0163] Step 704: The first node performs perception estimation and self-integrity calculation.

[0164] The first node can calculate the error based on the target measurement and the perception information of the perception estimation, construct the error indicator, calculate the PL from the given false alarm rate and missed alarm rate according to the different distributions of different error sources, calculate the integrity KPIs such as TTA, TIR, IA, etc. from the relationship between PL and AL, and then determine the integrity.

[0165] The integrity may be a specific integrity level, such as L3, or may be a range of integrity levels that the first node can support, such as {L3, L4, L5}.

[0166] Step 705: The first node sends perception information and first information.

[0167] For example, an integrity level (IL) may be transmitted in the first information to indicate the integrity of the first node. The type and value range of IL may be INTEGER (0, ..., N-1), then IL = 3 or IL = {2, 3, 4}; or, it may be ENUMERATED (L1, L2, ..., LN), then IL = L3 or IL = {L3, L4, L5}.

[0168] Step 706: The second node calculates the integrity of the second node according to the perception information.

[0169] The integrity may be a specific integrity level, such as L3, or may be a range of integrity levels that the second node can support, such as {L2, L3, L4}.

[0170] Step 707: The second node compares the integrity of the first node and the second node.

[0171] Optionally, the integrity levels of the second node and the first node are compared, and both are L3, or the integrity ranges of the second node and the first node are logically ANDed, and the result is not empty, such as {L3, L4, L5}∩{L2, L3, L4}={L3, L4}. In this case, there is no need to adjust the integrity.

[0172] Step 708: The second node sends a second message, which includes at least one of the following: (1) the integrity of the second node, i.e., the result of the logical AND operation in step 707, such as represented by IL={L3}, (2) the identification of the second node integrity adjustment result, such as represented by IL_Adjust_Result, whose type and value range can be BIT STRING (YES-1, NO-0), which takes 1 if the adjustment operation has been performed and 0 if the adjustment has not been performed, and here takes 0. (3) the identification of whether the integrity of the first node needs to be adjusted, such as represented by the parameter IL_Adjust_Request, whose type and value range can be BIT STRING (YES-1, NO-0), which takes 0 if no adjustment is required and 1 if adjustment is required, and here takes 0.

[0173] Embodiment 3: The integrity calculated by the second node and the first node is different (the integrity values ​​are different or the intersection of the integrity value ranges is empty), the second node performs integrity adjustment, and sends a second message to inform the first node to maintain its integrity.

[0174] See also Figure 8 , the specific steps are as follows:

[0175] Steps 801-805: Same as steps 701-705 in Example 2.

[0176] Step 806: The second node calculates the integrity of the second node according to the sensing information. The integrity may be a specific integrity level, such as level L1, or may be a range of integrity levels that the second node can support, such as {L1, L2}.

[0177] Step 807: The second node compares the integrity of the first node and the second node. The integrity level of the second node is different from that of the first node, such as L3 for the first node and L1 for the second node; or the logical AND of the integrity level ranges of the second node and the first node is an empty set, such as The integrity needs to be adjusted.

[0178] Step 808: The second node adjusts its own integrity according to the integrity in the first information. For example, when the second node is a network node, such as a gNB, the adjustment operations that can be performed include but are not limited to at least one of the following:

[0179] (1) Adjust the bandwidth of the reference signal;

[0180] (2) adjusting the power of the transmitted reference signal;

[0181] (3) Adjust the angle of the transmit beam;

[0182] (4) Adjust the width of the transmit beam;

[0183] (5) Adjust the frequency of the transmit beam scan.

[0184] Through the above adjustment, the second node adjusts its own integrity level to the integrity level supported by the first node, or the integrity level range, such as L3, or at least one of the set {L3, L4, L5}.

[0185] Step 809: The second node sends a second message, wherein the second node sends at least one of the following: (1) the integrity of the second node after adjustment, such as IL={L3}, (2) an indication that the second node has performed an integrity adjustment operation, such as IL_Adjust_Result=1, (3) an indication that the first node does not need to adjust the integrity, such as IL_Adjust_Request=0.

[0186] Embodiment 4: The integrity calculated by the second node and the first node is different, and the second node sends second information to inform the first node to adjust its integrity. The first node adjusts its integrity and sends fifth information to inform the second node of the result of its integrity adjustment.

[0187] See also Fig. 9 , the specific steps are as follows:

[0188] Steps 901-907: Same as steps 801-805 in Example 3.

[0189] Step 908: The second node is unwilling to adjust the integrity, and this step can be omitted. Or the second node performs an integrity adjustment operation (the specific operation is the same as step 808 in embodiment 3), but fails to successfully adjust the integrity of the second node to be the same as the integrity of the first node.

[0190] Step 909: The second node sends second information.

[0191] Optionally, the second information includes at least one of the following: (1) the original or adjusted integrity of the second node, which can be expressed by an integrity level, such as IL={L1,L2}, (2) whether the second node has performed integrity adjustment, if so, IL_Adjust_Result=1, if not, IL_Adjust_Result=0, (3) an indication that the first node needs to adjust its integrity, such as IL_Adjust_Request=1.

[0192] Step 910: After receiving the second information, the first node does not want to adjust its integrity, and this step is omitted. Or the first node changes its integrity by adjusting its own configuration. When the first node is a network node such as a gNB, the adjustment operations that can be performed include but are not limited to at least one of the following:

[0193] (1) Adjust the angle of the receiving beam;

[0194] (2) Adjust the width of the receiving beam;

[0195] (3) Adjust the frequency of receiving beam scanning;

[0196] (4) Adjust the length and position of the receiving window.

[0197] The result of the integrity adjustment operation performed by the first node may be successful adjustment to the integrity supported by the second node, that is, at least one in the range of {L1, L2}, or adjustment failure.

[0198] Step 911: The first node sends the fifth information, which includes an indication of whether the first node has adjusted the integrity to be consistent with the second node, such as using the parameter IL_Adjust_Feedback to feedback the integrity adjustment result, whose type and value range can be BIT STRING (YES-1, NO-0). The first node confirms that it has adjusted its integrity to the integrity (range) supported by the second node, such as parameter IL_Adjust_Feedback=1; or the integrity adjustment of the first node fails, such as IL_Adjust_Feedback=0; or the first node is unwilling to adjust the integrity, such as parameter IL_Adjust_Feedback=0.

[0199] The information parameter values ​​of the second information and the fifth information in Example 2, Example 3 and Example 4 are summarized in Table 2.

[0200]

[0201] Table 2: Parameter values ​​of the second information and the fifth information.

[0202] See also Fig.10The embodiment of the present application provides a collaborative sensing integrity monitoring device, which is applied to a first node. The device 1000 includes:

[0203] The first sending module 1001 is used to send perception information and first information to the second node, where the perception information is used to calculate the integrity of the second node, the first information includes the integrity of the first node, the integrity of the second node and the first information are used to determine the second information, and the integrity includes at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode;

[0204] The first receiving module 1002 is used to receive second information sent by a second node, where the second information is used to indicate information related to the adjustment integrity of the second node and / or the first node.

[0205] Optionally, the first node is a terminal and the second node is a network side device, or the first node is a network side device and the second node is a terminal, or the first node is a first terminal and the second node is a second terminal, or the first node is a first network side device and the second node is a second network side device.

[0206] In one implementation of the present application, the second information includes at least one of the following:

[0207] (1) the integrity of the second node;

[0208] Optionally, the integrity is represented by at least one of: an integrity value, a range of integrity values.

[0209] Optionally, the integrity value is a specific numerical value of at least one integrity parameter, or the integrity value is a specific integrity level divided according to a numerical range of at least one integrity parameter.

[0210] Optionally, the integrity value range is a set consisting of at least one numerical value of at least one integrity parameter, or the integrity value range is a set consisting of at least one integrity level of at least one integrity parameter.

[0211] (2) third information, where the third information is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation;

[0212] The third information may also be referred to as integrity adjustment result information.

[0213] (3) Fourth information, where the fourth information is used to indicate that the first node needs to perform an integrity adjustment operation, or indicates that the first node does not need to perform an integrity adjustment operation.

[0214] The fourth information may also be referred to as integrity adjustment request information.

[0215] In one embodiment of the present application, the third information is represented by 1 bit. When the value of the third information is a first value, the third information indicates that the second node performs an integrity adjustment operation. When the value of the third information is a second value, the third information indicates that the second node does not perform an integrity adjustment operation.

[0216] In one embodiment of the present application, the fourth information is represented by 1 bit. When the value of the fourth information is the third value, the fourth information indicates that the first node needs to perform an integrity adjustment operation. When the value of the fourth information is the fourth value, the fourth information indicates that the first node does not need to perform an integrity adjustment operation.

[0217] In one embodiment of the present application, the device further comprises:

[0218] The second sending module is used to send fifth information to the second node after receiving the second information, and the fifth information is used to indicate whether the integrity of the first node is adjusted according to the integrity of the second node.

[0219] In one embodiment of the present application, the fifth information is used to indicate that the integrity of the first node is adjusted to be consistent with the integrity of the second node, or the fifth information is used to indicate that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

[0220] The fifth information may also be referred to as integrity adjustment feedback information.

[0221] In one embodiment of the present application, the fifth information is represented by 1 bit. When the value of the fifth information is the fifth value (for example, 1), the fifth information indicates that the integrity of the first node is adjusted to be consistent with the integrity of the second node, that is, the integrity of the adjusted first node is the same as the integrity of the second node, or the intersection of the adjusted integrity range of the first node and the integrity range of the second node is not empty.

[0222] When the value of the fifth information is the sixth value (for example, 0), the fifth information indicates that the integrity of the first node has not been adjusted to be consistent with the integrity of the second node.

[0223] The device provided in the embodiment of the present application can achieve Figure 4 The various processes implemented by the method embodiment shown achieve the same technical effect and will not be described again here to avoid repetition.

[0224] See also Fig.11 , an embodiment of the present application provides a collaborative sensing integrity monitoring device, which is applied to a second node, and the device 1100 includes:

[0225] The second receiving module 1101 is configured to receive the sensing information and the first information sent by the first node, the sensing information being used to calculate the integrity of the second node, the first information including the integrity of the first node, and the integrity including at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode;

[0226] A first determining module 1102, configured to determine the integrity of the second node according to the perception information;

[0227] A second determining module 1103, configured to determine the second information according to the integrity of the second node and the first information;

[0228] The third sending module 1104 is used to send second information to the first node, where the second information is used to indicate information related to the adjustment integrity of the second node and / or the first node.

[0229] In one implementation of the present application, the second information includes at least one of the following:

[0230] (1) the integrity of the second node;

[0231] Optionally, the integrity is represented by at least one of: an integrity value, a range of integrity values.

[0232] Optionally, the integrity value is a specific numerical value of at least one integrity parameter, or the integrity value is a specific integrity level divided according to a numerical range of at least one integrity parameter.

[0233] Optionally, the integrity value range is a set consisting of at least one numerical value of at least one integrity parameter, or the integrity value range is a set consisting of at least one integrity level of at least one integrity parameter.

[0234] (2) third information, where the third information is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation;

[0235] The third information may also be referred to as integrity adjustment result information.

[0236] (3) Fourth information, where the fourth information is used to indicate that the first node needs to perform an integrity adjustment operation, or indicates that the first node does not need to perform an integrity adjustment operation.

[0237] The fourth information may also be referred to as integrity adjustment request information.

[0238] In one embodiment of the present application, the third information is represented by 1 bit. When the value of the third information is a first value, the third information indicates that the second node performs an integrity adjustment operation. When the value of the third information is a second value, the third information indicates that the second node does not perform an integrity adjustment operation.

[0239] In one embodiment of the present application, the fourth information is represented by 1 bit. When the value of the fourth information is the third value, the fourth information indicates that the first node needs to perform an integrity adjustment operation. When the value of the fourth information is the fourth value, the fourth information indicates that the first node does not need to perform an integrity adjustment operation.

[0240] In one embodiment of the present application, the device further comprises:

[0241] The third receiving module is used to receive fifth information sent by the first node after sending second information to the first node, and the fifth information is used to indicate whether the integrity of the first node is adjusted according to the integrity of the second node.

[0242] In one embodiment of the present application, the fifth information is used to indicate that the integrity of the first node is adjusted to be consistent with the integrity of the second node, or the fifth information is used to indicate that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

[0243] The fifth information may also be referred to as integrity adjustment feedback information.

[0244] In one embodiment of the present application, the fifth information is represented by 1 bit. When the value of the fifth information is the fifth value (for example, 1), the fifth information indicates that the integrity of the first node is adjusted to be consistent with the integrity of the second node, that is, the integrity of the adjusted first node is the same as the integrity of the second node, or the intersection of the adjusted integrity range of the first node and the integrity range of the second node is not empty.

[0245] When the value of the fifth information is the sixth value (for example, 0), the fifth information indicates that the integrity of the first node has not been adjusted to be consistent with the integrity of the second node.

[0246] The device provided in the embodiment of the present application can achieve Figure 5 The various processes implemented by the method embodiment shown achieve the same technical effect and will not be described again here to avoid repetition.

[0247] like Fig.12 As shown, the embodiment of the present application also provides a communication device 1200, including a processor 1201, a memory 1202, a program or instruction stored in the memory 1202 and executable on the processor 1201, and the program or instruction is executed by the processor 1201 to implement the above Figure 4 or Figure 5 The various processes of the method embodiment can achieve the same technical effect. To avoid repetition, they will not be described here.

[0248] The embodiment of the present application also provides a readable storage medium on which a program or instruction is stored. When the program or instruction is executed by a processor, the above Figure 4 or Figure 5 The various processes of the method embodiment shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0249] The processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0250] The steps of the method or algorithm described in conjunction with the contents disclosed in this application can be implemented in hardware or by executing software instructions in a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, mobile hard disks, read-only optical disks, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be carried in an ASIC. In addition, the ASIC can be carried in a core network interface device. Of course, the processor and the storage medium can also exist in the core network interface device as discrete components.

[0251] Those skilled in the art should be aware that in one or more of the above examples, the functions described in this application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access.

[0252] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of the present application in detail. It should be understood that the above description is only the specific implementation methods of the present application and is not intended to limit the scope of protection of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the present application should be included in the scope of protection of the present application.

[0253] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the embodiments of the present application may adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0254] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 generate 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.

[0255] 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 1A function specified in one or more boxes.

[0256] 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 The steps for the functions specified in one or more boxes.

[0257] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for cooperative sensing integrity monitoring, applied to a first node, characterized in that: Sending perception information and first information to a second node, where the perception information is used to calculate the integrity of the second node, where the first information includes the integrity of the first node, where the integrity of the second node and the first information are used to determine second information, where the integrity includes at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode; The second information sent by the second node is received, where the second information is used to indicate information for adjusting integrity with the second node and / or the first node.

2. The method according to claim 1, characterized in that: The second information includes at least one of the following: the integrity of the second node; third information, where the third information is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation; Fourth information, where the fourth information is used to indicate that the first node needs to perform an integrity adjustment operation, or indicates that the first node does not need to perform an integrity adjustment operation.

3. The method according to claim 2, characterized in that The integrity is represented by at least one of: an integrity value, and an integrity value range.

4. The method according to claim 3, characterized in that: The integrity value is a specific value of at least one integrity parameter, or the integrity value is a specific integrity level divided according to a value range of at least one integrity parameter.

5. The method according to claim 3, characterized in that: The integrity value range is a set consisting of at least one value of at least one integrity parameter, or the integrity value range is a set consisting of at least one integrity level of at least one integrity parameter.

6. The method according to claim 2, characterized in that The third information is represented by a 1-bit symbol. When the value of the third information is a first value, the third information indicates that the second node performs an integrity adjustment operation. When the value of the third information is a second value, the third information indicates that the second node does not perform an integrity adjustment operation.

7. The method according to claim 2, characterized in that The fourth information is represented by 1 bit. When the value of the fourth information is the third value, the fourth information indicates that the first node needs to perform an integrity adjustment operation. When the value of the fourth information is the fourth value, the fourth information indicates that the first node does not need to perform an integrity adjustment operation.

8. The method according to claim 1, characterized in that After receiving the second information, the method further includes: Send fifth information to the second node, where the fifth information is used to indicate whether the integrity of the first node is adjusted according to the integrity of the second node.

9. The method according to claim 8, characterized in that The fifth information is used to indicate that the integrity of the first node is adjusted to be consistent with the integrity of the second node, or the fifth information is used to indicate that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

10. The method according to claim 9, characterized in that The fifth information is represented by 1 bit. When the value of the fifth information is the fifth value, the fifth information indicates that the integrity of the first node is adjusted to be consistent with the integrity of the second node. When the value of the fifth information is the sixth value, the fifth information indicates that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

11. A method for cooperative sensing integrity monitoring, applied to a second node, characterized in that: receiving sensing information and first information sent by a first node, the sensing information being used to calculate the integrity of the second node, the first information including the integrity of the first node, the integrity including at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode; Determining the integrity of the second node according to the perception information; Determining second information according to the integrity of the second node and the first information; The second information is sent to the first node, where the second information is used to indicate information for adjusting integrity with the second node and / or the first node.

12. The method according to claim 11, characterized in that The second information includes at least one of the following: the integrity of the second node; third information, where the third information is used to indicate that the second node performs an integrity adjustment operation, or indicates that the second node does not perform an integrity adjustment operation; Fourth information, where the fourth information is used to indicate that the first node needs to perform an integrity adjustment operation, or indicates that the first node does not need to perform an integrity adjustment operation.

13. The method according to claim 12, characterized in that The integrity is represented by at least one of: an integrity value, and an integrity value range.

14. The method according to claim 13, characterized in that The integrity value is a specific value of at least one integrity parameter, or the integrity value is a specific integrity level divided according to a value range of at least one integrity parameter.

15. The method according to claim 13, characterized in that The integrity value range is a set consisting of at least one value of at least one integrity parameter, or the integrity value range is a set consisting of at least one integrity level of at least one integrity parameter.

16. The method according to claim 12, characterized in that The third information is represented by 1 bit. When the value of the third information is a first value, the third information indicates that the second node performs an integrity adjustment operation. When the value of the third information is a second value, the third information indicates that the second node does not perform an integrity adjustment operation.

17. The method according to claim 12, characterized in that The fourth information is represented by 1 bit. When the value of the fourth information is the third value, the fourth information indicates that the first node needs to perform an integrity adjustment operation. When the value of the fourth information is the fourth value, the fourth information indicates that the first node does not need to perform an integrity adjustment operation.

18. The method according to claim 11, characterized in that After sending the second information to the first node, the method further includes: Fifth information sent by the first node is received, where the fifth information is used to indicate whether the integrity of the first node is adjusted according to the integrity of the second node.

19. The method according to claim 18, characterized in that The fifth information is used to indicate that the integrity of the first node is adjusted to be consistent with the integrity of the second node, or the fifth information is used to indicate that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

20. The method according to claim 19, characterized in that The fifth information is represented by 1 bit. When the value of the fifth information is the fifth value, the fifth information indicates that the integrity of the first node is adjusted to be consistent with the integrity of the second node. When the value of the fifth information is the sixth value, the fifth information indicates that the integrity of the first node is not adjusted to be consistent with the integrity of the second node.

21. A collaborative sensing integrity monitoring device, applied to a first node, characterized in that: include: A first sending module, configured to send perception information and first information to a second node, wherein the perception information is used to calculate the integrity of the second node, the first information includes the integrity of the first node, the integrity of the second node and the first information are used to determine the second information, and the integrity includes at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode; The first receiving module is used to receive second information sent by a second node, where the second information is used to indicate information related to the adjustment integrity of the second node and / or the first node.

22. A collaborative sensing integrity monitoring device, applied to a second node, characterized in that: include: a second receiving module, configured to receive the sensing information and the first information sent by the first node, the sensing information being used to calculate the integrity of the second node, the first information comprising the integrity of the first node, the integrity comprising at least one or more of the following parameters: integrity risk, residual risk, integrity limit, alarm threshold, alarm time, protection level, relevant time, integrity availability, positioning error, error source, error value, threat model, threat occurrence probability, and failure mode; A first determining module, configured to determine the integrity of the second node according to the perception information; A second determining module, configured to determine second information according to the integrity of the second node and the first information; The third sending module is used to send the second information to the first node, where the second information is used to indicate information for adjusting integrity with the second node and / or the first node.

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

24. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the steps of the method according to any one of claims 1 to 20 are implemented.

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