Cooperative sensing measurement method, apparatus and device, and storage medium

Abstract

The invention discloses a cooperative sensing measurement method and device, equipment and a storage medium, and belongs to the field of sensing measurement. The method comprises the steps that in the process of cooperative sensing measurement, a sensing initiator indicates the opportunity of executing the sensing measurement process to each group of sensing responders participating in cooperation in a polling triggering mode, and one group of sensing responders participating in cooperation comprises one or more sensing responders. The polling triggering may be implemented based on a perceived request frame, a perceived measurement polling frame, or a perceived reporting polling frame. Each group of perceptual responders corresponds to perceptual request frames of the number of the perceptual responders, or each group of perceptual responders corresponds to one perceptual report polling frame, or each group of perceptual responders corresponds to one perceptual measurement polling frame, or each group of perceptual responders except the first group corresponds to one perceptual report polling frame, or each group of perceptual responders except the first group corresponds to one perceptual measurement polling frame; or each group of perceptual responders except the first group corresponds to one perceptual measurement polling frame. The method can avoid the situation that sensing cannot be carried out normally.

Description

Collaborative sensing measurement method, device, equipment and storage medium Technical Field

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

[0002] Wireless Local Area Networks (WLAN) sensing refers to a technology that senses people or objects in an environment by measuring changes in the scattering and / or reflection of WLAN signals passing through people or objects.

[0003] In collaborative sensing, the number of devices participating in sensing is at least two, usually including a sensing initiator and at least one sensing responder. The sensing initiator is used to control all sensing responders to achieve collaborative sensing.

[0004] Summary of the Invention

[0005] This application provides a collaborative sensing measurement method, apparatus, device, and storage medium. The technical solution is as follows:

[0006] According to one aspect of the present application, a collaborative sensing measurement method is provided, where the method is performed by a sensing initiator and includes:

[0007] During the collaborative sensing measurement process, the sensing initiator triggers each group or each sensing responder participating in the collaboration to execute all or part of the phases in the sensing measurement process in a polling triggering manner.

[0008] According to one aspect of the present application, a collaborative sensing measurement method is provided, where the method is performed by a sensing responder and includes:

[0009] During the collaborative sensing measurement process, each group or each of the sensing responders participating in the collaboration executes all or part of the phases in the sensing measurement process according to the triggering by the sensing initiator in a polling triggering manner.

[0010] According to another aspect of the present application, a collaborative awareness measurement device is provided, the device comprising:

[0011] The trigger module is used to trigger each group or each perception responder participating in the collaboration to execute all or part of the phases in the perception measurement process in a polling triggering manner during the collaborative perception measurement process.

[0012] According to another aspect of the present application, a collaborative awareness measurement device is provided, the device comprising:

[0013] The execution module is used to, during the collaborative sensing measurement process, enable each group or each device participating in the collaboration to execute all or part of the stages in the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner.

[0014] According to another aspect of the present application, a perception initiating device is provided, the device comprising:

[0015] processor;

[0016] a transceiver connected to the processor;

[0017] a memory for storing executable instructions for the processor;

[0018] The processor is configured to load the executable instructions so that the perception initiating device implements the collaborative perception measurement method as described in the above aspects.

[0019] According to another aspect of the present application, a sensory response device is provided, the device comprising:

[0020] processor;

[0021] a transceiver connected to the processor;

[0022] a memory for storing executable instructions for the processor;

[0023] The processor is configured to load the executable instructions so that the perception initiating device implements the collaborative perception measurement method as described in the above aspects.

[0024] According to another aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is used to be executed by a perception measurement device to implement the collaborative perception measurement method described in the above aspect.

[0025] According to another aspect of an embodiment of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions. When a perception measurement device equipped with the chip is running, it is used to implement the collaborative perception measurement method described in the above aspects.

[0026] According to another aspect of an embodiment of the present application, a computer program product or computer program is provided, wherein the computer program product or computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A perception measurement device reads and executes the computer instructions from the computer-readable storage medium to implement the collaborative perception measurement method described in the above aspect.

[0027] The technical solutions provided by the embodiments of the present application include at least the following beneficial effects:

[0028] By using a polling trigger method, the perception initiator triggers each group or each participating perception responder to execute all or part of the perception measurement process, so that each or each group of participating perception responders can execute the relevant stages of the perception measurement process according to the triggering of the perception initiator. This eliminates the need to determine the timing of starting the perception measurement based on the acknowledgment (ACK) frame sent by the perception initiator, and eliminates the need to determine whether the perception measurement process of the previous perception responder has ended, thus avoiding the problem of collaborative perception of multiple perception devices not being able to proceed normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0030] FIG1 is a block diagram of a perception measurement system provided by an exemplary embodiment of the present application;

[0031] FIG2 is a schematic diagram of a millimeter wave sensing type provided by an exemplary embodiment of the present application;

[0032] FIG3 is a schematic diagram of a millimeter wave sensing process provided by an exemplary embodiment of the present application;

[0033] FIG4 is a schematic diagram of an example of a sequential mode of millimeter wave cooperative monostatic sensing measurement provided by an exemplary embodiment of the present application;

[0034] FIG5 is a schematic diagram of an example of a parallel mode of millimeter wave cooperative monostatic sensing measurement provided by an exemplary embodiment of the present application;

[0035] FIG6 is a schematic diagram of a millimeter wave cooperative bistatic sensing measurement example provided by an exemplary embodiment of the present application;

[0036] FIG7 is a schematic diagram of a beamforming frame format provided by an exemplary embodiment of the present application;

[0037] FIG8 is a schematic diagram of a format of a perception request frame provided by an exemplary embodiment of the present application;

[0038] FIG9 is a schematic diagram of a format of a perception response frame provided by an exemplary embodiment of the present application;

[0039] FIG10 is a schematic diagram of a format of a perception polling frame provided by an exemplary embodiment of the present application;

[0040] FIG11 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0041] FIG12 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0042] FIG13 is a schematic diagram of a format of a perception measurement polling frame provided by an exemplary embodiment of the present application;

[0043] FIG14 is a schematic diagram of a format of a perception measurement polling frame provided by an exemplary embodiment of the present application;

[0044] FIG15 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0045] FIG16 is a flow chart of a sequential mode of cooperative single-base sensing measurement provided by an exemplary embodiment of the present application;

[0046] FIG17 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0047] FIG18 is a flow chart of a sequential mode of cooperative monostatic sensing measurement provided by an exemplary embodiment of the present application;

[0048] FIG19 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0049] FIG20 is a flow chart of a sequential mode of cooperative single-base sensing measurement provided by an exemplary embodiment of the present application;

[0050] FIG21 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0051] FIG22 is a flow chart of a parallel mode of collaborative single-base sensing measurement provided by an exemplary embodiment of the present application;

[0052] FIG23 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0053] FIG24 is a flow chart of a parallel mode of cooperative single-base sensing measurement provided by an exemplary embodiment of the present application;

[0054] FIG25 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0055] FIG26 is a schematic diagram of a process of cooperative bistatic sensing measurement provided by an exemplary embodiment of the present application;

[0056] FIG27 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0057] FIG28 is a schematic diagram of a process of cooperative bistatic sensing measurement provided by an exemplary embodiment of the present application;

[0058] FIG29 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application;

[0059] FIG30 is a schematic diagram of a process of cooperative bistatic sensing measurement provided by an exemplary embodiment of the present application;

[0060] FIG31 is a block diagram of a collaborative awareness measurement device provided by an exemplary embodiment of the present application;

[0061] FIG32 is a block diagram of a collaborative awareness measurement device provided by an exemplary embodiment of the present application;

[0062] FIG33 is a schematic structural diagram of a perception measurement device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0063] To make the objectives, technical solutions, and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Exemplary embodiments will be described in detail herein, with examples shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0064] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0065] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0066] First, some terms involved in the embodiments of this application are introduced as follows:

[0067] WLAN Sensing: This technology detects people and objects in the environment by measuring changes in WLAN signal scattering and / or reflection caused by people and objects. In other words, WLAN sensing uses wireless signals to measure and perceive the surrounding environment, enabling functions such as indoor intrusion, movement, and fall detection, gesture recognition, and spatial 3D image creation.

[0068] Association Identifier (AID): used to identify a terminal after establishing an association with an access point.

[0069] WLAN devices participating in WLAN awareness may have the following roles:

[0070] Sensing Initiator: Also known as the sensing session initiator, sensing initiating device, or initiator. A sensing initiator is a device that initiates sensing measurements and wants to obtain sensing results.

[0071] Sensing Responder: Also known as Sensing Session Responder, Sensing Responder Device, or Responder. A Sensing Responder is a device that participates in sensing measurements without being the initiating device.

[0072] Sensing Transmitter: Also known as sensing signal sending device, sensing sender, sensing sending device, or transmitter. A sensing signal transmitter is a device that sends sensing physical layer protocol data units (PPDUs).

[0073] Sensing Receiver: Also known as a sensing signal receiving device, sensing receiver, sensing receiving device, or receiver. A sensing signal receiver is a device that receives echo signals. Echo signals are the physical layer protocol data units sent by the sensing signal sender that are scattered and / or reflected by people or objects.

[0074] A WLAN terminal may have one or more roles in a perception measurement. For example, a perception initiator can be solely a perception initiator, a perception signal sender, a perception signal receiver, or both. These devices are collectively referred to as perception measurement devices.

[0075] Next, the relevant technical background involved in the embodiments of this application is introduced:

[0076] Figure 1 is a block diagram of a perception measurement system provided by an exemplary embodiment of the present application. The perception measurement system includes terminals, terminals and network devices, or access points (APs) and stations (STAs), though this application does not limit this. This application uses the perception measurement system including APs and STAs as an example for illustration.

[0077] In some scenarios, an AP can be referred to as an AP STA, meaning that in a sense, an AP is also a type of STA. In some scenarios, a STA can be referred to as a non-AP STA.

[0078] In some embodiments, STAs may include AP STAs and non-AP STAs.

[0079] Communication in a communication system can be between an AP and a non-AP STA, between a non-AP STA and a non-AP STA, or between a STA and a peer STA. A peer STA refers to a device that communicates with the STA peer. For example, a peer STA may be an AP or a non-AP STA.

[0080] An AP acts as a bridge between wired and wireless networks, connecting wireless network clients together and then connecting the wireless network to the Ethernet. An AP can be a terminal device (such as a mobile phone) or a network device (such as a router) equipped with a Wireless Fidelity (Wi-Fi) chip.

[0081] It should be understood that the role of STA in the communication system is not absolute. For example, in some scenarios, when a mobile phone is connected to a router, the mobile phone is a non-AP STA. When the mobile phone serves as a hotspot for other mobile phones, the mobile phone plays the role of AP.

[0082] APs and non-AP STAs can be devices used in the Internet of Vehicles, IoT nodes and sensors in the Internet of Things (IoT), smart cameras, smart remote controls, smart water and electricity meters in smart homes, and sensors in smart cities.

[0083] In some embodiments, non-AP STAs may support, but are not limited to, 802.11bf. Non-AP STAs may also support various current and future 802.11 family WLAN standards, such as 802.11ax, 802.11ac, 802.11n, 802.11g, 802.11b, and 802.11a.

[0084] In some embodiments, the AP may be a device supporting 802.11bf. The AP may also be a device supporting various current and future 802.11 family WLAN standards, such as 802.11ax, 802.11ac, 802.11n, 802.11g, 802.11b, and 802.11a.

[0085] In the embodiment of the present application, the STA may be a mobile phone, tablet computer, computer, virtual reality (VR) device, augmented reality (AR) device, wireless device in industrial control, set-top box, wireless device in self-driving, in-vehicle communication equipment, wireless device in remote medical care, wireless device in smart grid, wireless device in transportation safety, wireless device in smart city, wireless device in smart home, wireless communication chip / ASIC / SOC / etc. that supports WLAN / Wi-Fi technology.

[0086] WLAN technology can support frequency bands including but not limited to: low frequency bands (2.4GHz, 5GHz, 6GHz) and high frequency bands (60GHz).

[0087] One or more links exist between a station and an access point.

[0088] In some embodiments, stations and access points support multi-band communications, for example, communicating simultaneously on the 2.4 GHz, 5 GHz, 6 GHz, and 60 GHz frequency bands, or communicating simultaneously on different channels within the same frequency band (or different frequency bands), thereby improving the communication throughput and / or reliability between devices. Such devices are generally referred to as multi-band devices, or multi-link devices (MLDs), and are sometimes also referred to as multi-link entities or multi-band entities. A multi-link device can be an access point device or a station device. If the multi-link device is an access point device, the multi-link device includes one or more APs; if the multi-link device is a station device, the multi-link device includes one or more non-AP STAs.

[0089] A multi-link device including one or more APs is called an AP, and a multi-link device including one or more non-AP STAs is called a Non-AP. In the embodiment of the application, the Non-AP can be called a STA.

[0090] In an embodiment of the present application, the AP may include multiple APs, the Non-AP may include multiple STAs, multiple links may be formed between the APs in the AP and the STAs in the Non-AP, and data communication may be performed between the APs in the AP and the corresponding STAs in the Non-AP through the corresponding links.

[0091] An AP is a device deployed in a wireless local area network to provide wireless communication capabilities for STAs. A station may include: User Equipment (UE), an access terminal, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a wireless communication device, a user agent, or a user device. Optionally, a station may also be a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, an in-vehicle device, or a wearable device, but the embodiments of the present application are not limited to this.

[0092] In the embodiment of the present application, both the station and the access point support the IEEE 802.11 standard, but are not limited to the IEEE 802.11 standard. They may also be other standards related to perception measurement, such as the IEEE 802.11bf D0.1 standard.

[0093] In the WLAN sensing scenario, the WLAN terminals participating in sensing include: sensing initiators and sensing responders. Furthermore, sensing responders can be divided into sensing senders and sensing receivers.

[0094] Perception measurement can be applied to cellular network communication systems, wireless local area networks (WLAN) systems, or wireless fidelity networks (Wi-Fi) systems, and this application does not limit this. This application uses the application of perception measurement in WLAN or Wi-Fi systems as an example for schematic illustration.

[0095] Optionally, the collaborative sensing measurement in the embodiment of the present application is implemented based on millimeter waves. The millimeter wave sensing type is introduced as follows:

[0096] FIG2 is a schematic diagram of the millimeter wave sensing type provided by an exemplary embodiment of the present application. As shown in FIG2, FIG2 (a) is single-base sensing, in which there is only one device participating in the sensing. The device senses the environment by spontaneously sending (self-sending) sensing PPDUs and self-receiving (self-receiving) echo signals, which is similar to the working mode of traditional radars. Among them, spontaneous transmission and self-receiving means that when a device sends a sensing PPDU, the sender address and the receiver address of the sensing PPDU are both set to the device's own address. The sensing PPDU sent by the device will form an echo signal after being scattered and / or reflected by the environment. The device can then receive the echo signal through its own address and perceive the environment by analyzing the echo signal. FIG2 (b) is dual-base sensing, in which there are two devices participating in the sensing, one of which sends the sensing PPDU and the other receives the echo signal to sense the environment. FIG2 (c) is collaborative single-base sensing, in which the number of devices participating in the sensing is greater than one. Each device senses the environment by spontaneously sending the sensing PPDU and self-receiving the echo signal. There is an initiator that controls all other devices to achieve collaboration. Figure 2(d) illustrates collaborative dual-base sensing, where more than two devices participate in sensing. This means there are at least two pairs of dual-base sensing devices. Each transmitting device (sensing sender) transmits a sensing PPDU, and the corresponding echo signal is received by the receiving devices in the same group (sensing receivers), thus achieving collaborative sensing. Figure 2(e) illustrates multi-base sensing, where more than two devices participate in sensing. A single transmitting device transmits a sensing PPDU, and multiple receiving devices simultaneously receive the echo signal and complete environmental sensing.

[0097] This section describes the millimeter wave sensing process:

[0098] Figure 3 is a schematic diagram of the millimeter wave sensing process provided by an exemplary embodiment of the present application. As shown in Figure 3, the process is a general process of millimeter wave sensing, which includes, from left to right, the session setup phase, the millimeter wave sensing measurement setup (directional multi-gigabit (DMG) Measurement setup) phase, and the sensing measurement phase. The sensing measurement phase consists of multiple sensing measurement bursts, and each burst consists of multiple sensing measurement instances. The time interval between bursts is the inter-burst interval, and the time interval between adjacent sensing measurement instances in a burst is the intra-burst interval. In Figure 3, MACADR refers to the Medium Access Control (MAC) address, AID refers to the association identifier, DMG Measurement setup ID refers to the millimeter wave sensing measurement setup identifier, MS ID refers to the measurement setup (MS) identifier, Burst ID refers to the burst identifier, and Instance Sequential Number (SN) refers to the identifier of the sensing measurement instance, also known as the Sensing Instance SN. The "burst" in the above description can also be called a "burst."

[0099] This article introduces an example of millimeter wave collaborative monostatic sensing measurement:

[0100] Millimeter-wave collaborative monostatic sensing measurement instances exist in two modes: a sequential mode and a parallel mode. For example, Figure 4 is a schematic diagram of an example of a sequential mode for millimeter-wave collaborative monostatic sensing measurement provided by an exemplary embodiment of the present application, and Figure 5 is a schematic diagram of an example of a parallel mode for millimeter-wave collaborative monostatic sensing measurement provided by an exemplary embodiment of the present application.

[0101] As shown in Figures 4 and 5, the similarities between the sequential mode and the parallel mode are: the sensing initiator needs to send a sensing request (DMG Sensing Request) frame to each sensing responder (DMG Responder) at the beginning of the sensing measurement instance, and each sensing responder needs to reply with a sensing response (DMG Sensing Response) frame to the sensing initiator within the short interframe space (SIFS) time. The DMG sensing request is also called RQ, and the DMG sensing response is also called RSP.

[0102] As shown in Figures 4 and 5, the difference between sequential mode and parallel mode is that in sequential mode, each sensing responder sends and receives monostatic sensing measurement frames (Monostatic PPDU) to sense the environment and sends a sensing measurement report frame (DMG Sensing Measurement Report) to the sensing initiator within the SIFS time. In parallel mode, each sensing responder simultaneously sends and receives monostatic sensing measurement frames to sense the environment and then sends DMG sensing measurement report frames (Perception Measurement Report frames) to the sensing initiator.

[0103] It should be noted that in Figures 4 and 5, the grids above the horizontal line corresponding to the perception initiator or the perception responder represent frames sent by the device, and the grids below the horizontal line (blank grids) represent frames received by the device, and the sent frames and the received frames are corresponding. For the grid directly above the horizontal line corresponding to the perception responder, it represents a frame sent and received by the perception responder, such as a single-base perception measurement frame sent and received by the perception responder. For example, in Figure 4, the perception initiator sends an RQ to the perception responder STA A (represented by the grid above the horizontal line corresponding to the perception initiator), and accordingly, the perception responder STA A will receive the RQ (represented by the blank grid below the horizontal line corresponding to the perception responder STA A). The meaning of the blank grids in other figures of the present application can be referred to the above description and will not be repeated here.

[0104] Introducing the millimeter wave collaborative bistatic sensing measurement example:

[0105] For example, Figure 6 is a schematic diagram of a millimeter wave collaborative dual-static sensing measurement example provided by an exemplary embodiment of the present application. As shown in Figure 6, the collaborative dual-static sensing measurement example is participated by an Initiator (STA) and four Responders (STA A, STA B, STA C, and STA D). Among them, STA A and STA C are sensing senders, and STA B and STA D are sensing receivers. STA A sends a Beam Refinement Protocol (BRP) frame (BRP frame with TRN) with a Training (TRN) field to STA B. STA B replies with a BRP frame with Report to STA A. Then, STA A sends a sensing measurement report (DMG Sensing Measurement Report) frame to report the measurement results to the Initiator. Similarly, STA C sends a BRP frame with a TRN field to STA D. STA D replies with a BRP frame with Report to STA C. Then, STA C sends a DMG Sensing Measurement Report frame to report the measurement results to the Initiator.

[0106] This section describes the Time Division Duplexing (TDD) beamforming frame:

[0107] Figure 7 is a schematic diagram of the format of a beamforming frame provided by an exemplary embodiment of the present application. As shown in Figure 7, a TDD beamforming frame is a type of control frame. Its MAC frame body consists of two parts: the TDD beamforming control field and the TDD beamforming information field. The meanings of the fields in the MAC frame header of the TDD beamforming frame are as follows:

[0108] Frame Control: Indicates the type of the MAC frame, including information indicating that the frame is a TDD beamforming frame.

[0109] Duration: Indicates the length of time the frame is sent.

[0110] Receiver Address (RA): Indicates the MAC address of the frame receiver.

[0111] Transmitter Address (TA): Indicates the MAC address of the frame sender.

[0112] TDD Beamforming Frame Type: indicates the type of TDD beamforming frame. For specific values ​​and their meanings, see Table 1.

[0113] Table 1

[0114] Value Meaning 0TDD Sector Sweep (SSW) 1TDD SSW Feedback 2TDD SSW Ack 3DMG Sensing

[0115] As shown in Table 1, the TDD beamforming frame type field values ​​0, 1, and 2 all indicate that the TDD beamforming frame is a type related to beam training, which is irrelevant to the method provided in the embodiment of the present application. The value 3 indicates that the TDD beamforming frame is a type related to DMG perception.

[0116] When the value of the TDD beamforming frame type field is 3, the TDD group beamforming (TDD Group Beamforming) field and the TDD beam measurement (TDD Beam Measurement) field jointly indicate the use of a TDD beamforming frame in DMG perception. For specific values ​​and their meanings, please refer to Table 2.

[0117] Table 2

[0118]

[0119] As shown in Table 2, when the value of the TDD group beam forming field is 0 and the value of the TDD beam measurement field is 0, it indicates that the TDD beam forming frame is a DMG perception request frame (perception request frame); when the value of the TDD group beam forming field is 0 and the value of the TDD beam measurement field is 1, it indicates that the TDD beam forming frame is a DMG perception response frame (perception response frame); when the value of the TDD group beam forming field is 1 and the value of the TDD beam measurement field is 0, it indicates that the TDD beam forming frame is a DMG perception polling frame (perception polling frame).

[0120] Introduction to the DMG perception request frame:

[0121] Figure 8 is a schematic diagram of the format of a sensing request frame provided by an exemplary embodiment of the present application. As shown in Figure 8, the meanings of the fields in the TDD beamforming information field of the DMG sensing request frame are as follows:

[0122] Measurement Setup ID: The identifier of the perception measurement setup associated with this frame.

[0123] Measurement Burst ID: The identifier of the sensor measurement burst associated with this frame.

[0124] Sensing Instance Sequential Number (SN): indicates the sequence number of a sensing measurement instance in a measurement burst.

[0125] Sensing type: Indicates the sensing type requested by the frame. For specific values ​​and meanings, see Table 3:

[0126] Table 3

[0127] Value Meaning 0 Coordinated Monostatic 1 Coordinated Bistatic 2 Multistatic 3 Reserved

[0128] STA ID: Indicates the order in which a STA participates in a perception measurement instance.

[0129] First Beam Index: indicates the index of the first transmit beam used in a perception measurement instance.

[0130] Num of STAs in Instance: indicates the number of STAs participating in the measurement in a perception measurement instance.

[0131] Num of PPDUs in Instance: Indicates the number of PPDUs that appear in a perception measurement instance.

[0132] Enhanced Directional Multi-Gigabit (EDMG) TRN Length: Indicates the number of TRN units contained in a PPDU.

[0133] · Number of receive (RX) TRN-Units per each transmit (TX) TRN-Unit (RX TRN-Units per Each TX TRN-Unit): indicates the number of TRN-Units sent consecutively in the same direction.

[0134] EDMG TRN-Unit P: Indicates the number of TRN subfields in a TRN-Unit whose beam direction is directed toward the peer device.

[0135] EDMG TRN-Unit M: Indicates the number of TRN subfields with variable beam directions in one TRN-Unit.

[0136] EDMG TRN-Unit N: indicates the number of TRN subfields transmitted consecutively using the same beam direction in the TRN-Unit-M TRN subfields.

[0137] TRN Subfield Sequence Length: indicates the length of the Golay sequence used by each TRN subfield.

[0138] Bandwidth: Indicates the bandwidth used to send the TRN field.

[0139] Introduction to the DMG perception response frame:

[0140] Figure 9 is a schematic diagram of the format of a sensing response frame provided by an exemplary embodiment of the present application. As shown in Figure 9, the MAC frame body of the DMG sensing response frame only includes the TDD beamforming control field.

[0141] Introduction to DMG perception polling frame:

[0142] FIG10 is a schematic diagram of the format of a perception polling frame provided by an exemplary embodiment of the present application. As shown in FIG10 , the meanings of the fields in the TDD beamforming information field of the DMG perception polling frame are as follows:

[0143] Measurement Setup ID: an identifier indicating the awareness measurement setup associated with this DMG awareness poll frame.

[0144] Measurement Burst ID: an identifier indicating the perception measurement burst associated with this DMG perception polling frame.

[0145] Sensing Instance Sequential Number (SN): indicates the identifier of the sensing measurement instance associated with this DMG sensing polling frame.

[0146] Analyze the timing issues in the above collaborative sensing measurements:

[0147] In the sequential mode of cooperative monostatic sensing measurement as shown in Figure 4, the sensing responder STA B should send and receive the monostatic sensing measurement frame within the SIFS period after the sensing initiator sends an acknowledgment (ACK) frame to the sensing responder STA A. However, since millimeter wave communications usually transmit signals in a direction (using a narrow beam width), the ACK frame will be directed to the sensing responder STA A rather than STA B. Therefore, there is no guarantee that STA B can receive the ACK frame, and therefore there is no guarantee that STA B can accurately send the monostatic sensing measurement frame within the SIFS period after the sensing initiator sends the ACK frame.

[0148] In addition, the duration of the sending and receiving of the single-base perception measurement frame by the perception responder STA A and the duration of the sending of the DMG perception measurement report frame (perception measurement report frame) are variable. This is because the format of the single-base perception measurement frame is not clearly specified at present, and any PPDU (sending address = receiving address) that meets the requirements can be used to implement single-base perception measurement. However, there are many types of PPDUs that meet the requirements, such as DMG control mode (controlmode) PPDU, DMG single carrier (Single Carrier, SC) mode PPDU, EDMG control mode PPDU, EDMG SC mode PPDU, EDMG orthogonal frequency division multiplexing (Orthogonal Frequency Division Multiplexing, OFDM) mode PPDU. Among them, the duration of each PPDU is different. In addition, since the DMG perception measurement report frame is a management frame, it can be sent using different modulation and coding schemes (Modulation and Coding Scheme, MCS), which may cause the duration of the DMG perception measurement report frame to be different.

[0149] Therefore, in the above-mentioned process of the sequential mode of the collaborative single-base sensing measurement, it is uncertain at what time the sensing responder STA B should send and receive the single-base sensing measurement frame, which may cause the problem of not being able to perform collaborative single-base sensing normally.

[0150] In the parallel mode process of collaborative single-base sensing measurement as shown in Figure 5, the sensing responder STA B should send a DMG sensing measurement report frame to the sensing initiator within the SIFS time after the sensing initiator replies an ACK frame to the sensing responder STA A. However, there are also problems here where the sensing responder STA B cannot receive the ACK frame and the duration of the sensing responder STA A sending the single-base sensing measurement frame and the DMG sensing measurement report frame is variable, resulting in STA B being unable to accurately send its own DMG sensing measurement report frame at a fixed time, thereby failing to successfully complete the collaborative single-base sensing instance.

[0151] In addition, in the collaborative dual-base sensing measurement process shown in Figure 6, if the number of sensing sending devices is greater than one, a timing problem similar to the above-mentioned collaborative single-base sensing type will also occur. Specifically, STA C needs to start sending BRP frames within SIFS time after the sensing initiator replies to the ACK frame to STA A. However, due to the narrow beam used in the millimeter wave communication system, the signal of the ACK frame sent by the sensing initiator will only point in the direction of STA A, and it is difficult to ensure that STA C can receive the frame, resulting in STA C being unable to send the BRP frame on time, which ultimately affects the normal progress of the collaborative dual-base sensing measurement instance.

[0152] The method provided in the embodiment of the present application triggers each group (cooperative dual-base) or each (cooperative single-base) of cooperative perception responders to perform all or part of the perception measurement process by a perception initiator using a polling trigger. The polling trigger can be implemented by one of a perception request frame, a perception measurement polling frame, and a perception reporting polling frame, thereby enabling each or each group of perception responders participating in the collaboration to perform the relevant stages of the perception measurement process according to the triggering of the perception initiator. This eliminates the need to determine the timing of starting the perception measurement based on the ACK frame sent by the perception initiator, and eliminates the need to determine whether the perception measurement process of the previous perception responder has ended, thereby avoiding the problem of cooperative perception of multiple perception devices not being able to proceed normally.

[0153] FIG11 is a flow chart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method may be executed by a sensing initiator, and the method includes:

[0154] Step 1102: During the collaborative sensing measurement process, the sensing initiator triggers each group or each collaborative sensing responder to execute all or part of the sensing measurement process in a polling triggering manner.

[0155] The collaborative sensing measurement can be divided into a collaborative single-base sequential mode type, a collaborative single-base parallel mode type, and a collaborative dual-base type. In the collaborative single-base sensing measurement process, the sensing initiator triggers each collaborative sensing responder to execute all or part of the sensing measurement process. In the collaborative dual-base sensing measurement process, the sensing initiator triggers each group of collaborative sensing responders to execute all or part of the sensing measurement process. Optionally, each group of collaborative sensing responders includes a sensing sender and a sensing receiver. In the collaborative dual-base sensing measurement, there are at least two groups of sensing responders.

[0156] For example, as shown in Figure 4, the process of the sequential mode of the coordinated single-base sensing measurement may include a request phase, a sensing measurement phase, and a reporting phase. The request phase includes the steps of the sensing initiator sending a sensing request frame to the sensing responder and the sensing responder sending a sensing response frame to the sensing initiator. The sensing measurement phase includes the step of the sensing responder sending a single-base sensing measurement frame. The reporting phase includes the step of the sensing responder sending a sensing measurement report frame to the sensing initiator.

[0157] For example, as shown in Figure 5, the parallel mode process of collaborative single-base sensing measurement may include a request phase, a sensing measurement phase, and a reporting phase. The request phase includes the steps of a sensing initiator sending a sensing request frame to a sensing responder and the sensing responder sending a sensing response frame to the sensing initiator. The sensing measurement phase includes the step of the sensing responder sending a single-base sensing measurement frame. The reporting phase includes the step of the sensing responder sending a sensing measurement report frame to the sensing initiator.

[0158] For example, as shown in Figure 6, the process of cooperative dual-base sensing measurement may include a request phase, a sensing measurement phase, and a reporting phase. The request phase includes the steps of a sensing initiator sending a sensing request frame to a sensing responder (including a sensing sender and a sensing receiver), and the sensing responder sending a sensing response frame to the sensing initiator. The sensing measurement phase includes the steps of a sensing sender sending a BRP frame with a TRN field to a sensing receiver, and the sensing receiver sending a BRP frame with a Report field to the sensing sender. The reporting phase includes the step of a sensing sender sending a sensing measurement report frame to the sensing initiator.

[0159] Optionally, the polling trigger of the perception initiator is implemented based on at least one of the following frames:

[0160] DMG Sensing Request frame

[0161] DMG Sensing Measurement Poll frame

[0162] DMG Sensing Report Poll frame;

[0163] The perception measurement polling frame is a trigger frame, specifically a trigger frame used to trigger the transmission of a PPDU for perception measurement. The perception reporting polling frame is a trigger frame, specifically a trigger frame used to trigger the reporting of perception measurement results.

[0164] Optionally, the perception request frame is used to trigger the perception responder to perform all stages in the perception measurement process, the perception measurement polling frame is used to trigger the perception responder to perform the perception measurement stage and the reporting stage in the perception measurement process, and the perception reporting polling frame is used to trigger the perception responder to perform the reporting stage in the perception measurement process.

[0165] Optionally, the perception measurement poll frame is a trigger frame used to trigger the perception responder to send a PPDU for perception measurement, for example, it is used to trigger the perception responder to send a single-base perception measurement frame. After receiving the perception measurement poll frame, the perception responder will sequentially perform perception measurement and report the perception measurement results after the perception measurement. The perception report poll frame is a trigger frame used to trigger the perception responder to report the perception measurement results, for example, it is used to trigger the perception responder to send a perception measurement report frame. After receiving the perception report poll frame, the perception responder will report the perception measurement results.

[0166] Optionally, in the sequential mode of coordinated single-base sensing measurement or coordinated dual-base sensing measurement, the sensing initiator triggers the sensing responder to execute all phases of the sensing measurement process using a sensing request frame. In the sequential mode of coordinated single-base sensing measurement or coordinated dual-base sensing measurement, the sensing initiator triggers the sensing responder to execute the sensing measurement phase and the reporting phase of the sensing measurement process using a sensing measurement poll frame. In the parallel mode of coordinated single-base sensing measurement, the sensing initiator triggers the sensing responder to execute the reporting phase of the sensing measurement process using a sensing report poll frame.

[0167] In summary, the method provided in this embodiment enables each or each group of collaborative sensing responders to execute all or part of the sensing measurement process by triggering the sensing initiator to perform all or part of the sensing measurement process in a polling triggering manner. This enables each or each group of collaborative sensing responders to execute the relevant stages of the sensing measurement process according to the triggering of the sensing initiator. This eliminates the need to determine the timing of initiating the sensing measurement based on the ACK frame sent by the sensing initiator, and eliminates the need to determine whether the sensing measurement process of the previous sensing responder has ended. This can avoid the problem of collaborative sensing of multiple sensing devices not being able to proceed normally.

[0168] FIG12 is a flow chart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method may be performed by a sensing responder, and the method includes:

[0169] Step 1202: During the collaborative sensing measurement process, each group or each collaborative sensing responder executes all or part of the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner.

[0170] The collaborative sensing measurement can be divided into a collaborative single-base sequential mode type, a collaborative single-base parallel mode type, and a collaborative dual-base type. In the collaborative single-base sensing measurement process, the sensing initiator triggers each collaborative sensing responder to execute all or part of the sensing measurement process. In the collaborative dual-base sensing measurement process, the sensing initiator triggers each group of collaborative sensing responders to execute all or part of the sensing measurement process. Optionally, each group of collaborative sensing responders includes a sensing sender and a sensing receiver. In the collaborative dual-base sensing measurement, there are at least two groups of sensing responders.

[0171] For example, in the sequential mode of coordinated single-base sensing measurement, the request phase includes the steps of a sensing initiator sending a sensing request frame to a sensing responder and the sensing responder sending a sensing response frame to the sensing initiator. The sensing measurement phase includes the step of the sensing responder sending a single-base sensing measurement frame. The reporting phase includes the step of the sensing responder sending a sensing measurement report frame to the sensing initiator. In the parallel mode of coordinated single-base sensing measurement, the request phase includes the step of the sensing initiator sending a sensing request frame to the sensing responder and the sensing responder sending a sensing response frame to the sensing initiator. The sensing measurement phase includes the step of the sensing responder sending a single-base sensing measurement frame. The reporting phase includes the step of the sensing responder sending a sensing measurement report frame to the sensing initiator. In the coordinated dual-base sensing measurement process, the request phase includes the step of the sensing initiator sending a sensing request frame to the sensing responder and the sensing responder sending a sensing response frame to the sensing initiator. The sensing measurement phase includes the step of the sensing sender sending a BRP frame with a TRN field to the sensing receiver and the sensing receiver sending a BRP frame with a Report field to the sensing sender. The reporting phase includes the step of the perception sender sending a perception measurement report frame to the perception initiator.

[0172] Optionally, the polling trigger of the perception initiator is implemented based on at least one of the following frames:

[0173] Perception request frame;

[0174] Perception measurement polling frame;

[0175] Perception reporting polling frame;

[0176] The perception measurement poll frame is a trigger frame, specifically a trigger frame used to trigger the transmission of a PPDU for perception measurement. The perception reporting poll frame is a trigger frame, specifically a trigger frame used to trigger the reporting of perception measurement results. Optionally, the perception request frame is used to trigger the perception responder to perform all phases of the perception measurement process, the perception measurement poll frame is used to trigger the perception responder to perform the perception measurement phase and reporting phase of the perception measurement process, and the perception reporting poll frame is used to trigger the perception responder to perform the reporting phase of the perception measurement process.

[0177] Optionally, the perception measurement poll frame is a trigger frame used to trigger the perception responder to send a PPDU for perception measurement, for example, it is used to trigger the perception responder to send a single-base perception measurement frame. After receiving the perception measurement poll frame, the perception responder will sequentially perform perception measurement and report the perception measurement results after the perception measurement. The perception report poll frame is a trigger frame used to trigger the perception responder to report the perception measurement results, for example, it is used to trigger the perception responder to send a perception measurement report frame. After receiving the perception report poll frame, the perception responder will report the perception measurement results.

[0178] Optionally, in the sequential mode of coordinated single-base sensing measurement or coordinated dual-base sensing measurement, the sensing initiator triggers the sensing responder to execute all phases of the sensing measurement process using a sensing request frame. In the sequential mode of coordinated single-base sensing measurement or coordinated dual-base sensing measurement, the sensing initiator triggers the sensing responder to execute the sensing measurement phase and the reporting phase of the sensing measurement process using a sensing measurement poll frame. In the parallel mode of coordinated single-base sensing measurement, the sensing initiator triggers the sensing responder to execute the reporting phase of the sensing measurement process using a sensing report poll frame.

[0179] In summary, the method provided in this embodiment enables each or each group of collaborative sensing responders to execute all or part of the sensing measurement process by triggering the sensing initiator to perform all or part of the sensing measurement process in a polling triggering manner. This enables each or each group of collaborative sensing responders to execute the relevant stages of the sensing measurement process according to the triggering of the sensing initiator. This eliminates the need to determine the timing of initiating the sensing measurement based on the ACK frame sent by the sensing initiator, and eliminates the need to determine whether the sensing measurement process of the previous sensing responder has ended. This can avoid the problem of collaborative sensing of multiple sensing devices not being able to proceed normally.

[0180] The method provided in the embodiment of the present application enables each group or each participating sensing responder to perform all or part of the sensing measurement process by using a polling trigger method by the sensing initiator, thereby enabling each or each group of participating sensing responders to perform the relevant stages of the sensing measurement process according to the triggering of the sensing initiator, thereby avoiding the problem of collaborative sensing of multiple sensing devices not being able to proceed normally. Optionally, the polling triggering of the sensing initiator is implemented based on at least one of the following frames:

[0181] Perception request frame;

[0182] Perception measurement polling frame;

[0183] Perception reporting polling frame.

[0184] The following describes the formats of the three frames mentioned above:

[0185] Introduction to the perception measurement polling frame:

[0186] In the embodiment of the present application, there are two schemes for designing the perception measurement polling frame:

[0187] (1) Newly defined perception measurement polling frame:

[0188] In this solution, the perception measurement polling frame is a type of TDD beamforming frame, and is not any type of perception request frame, perception response frame, or perception polling frame in the TDD beamforming frame.

[0189] For example, Figure 13 is a schematic diagram of the format of a perception measurement polling frame provided by an exemplary embodiment of the present application. As shown in Figure 13, the meanings of the fields in the MAC frame header of the perception measurement polling frame (TDD beamforming frame) are as follows:

[0190] Frame Control: Indicates the type of the MAC frame, including information indicating that the frame is a TDD beamforming frame.

[0191] Duration: Indicates the length of time the frame is sent.

[0192] TA: Indicates the MAC address of the frame sender.

[0193] RA: Indicates the MAC address of the frame receiver.

[0194] The MAC frame body of the TDD beamforming frame includes a TDD beamforming control field, which includes a TDD group beamforming field and a TDD beam measurement field. The meanings of the fields in the MAC frame body of the perception measurement poll frame (TDD beamforming frame) are as follows:

[0195] TDD Group Beamforming and TDD Beam Measurement together indicate the purpose of a TDD beamforming frame. For specific values ​​and their meanings, see Table 4.

[0196] Table 4

[0197]

[0198] As shown in Table 4, when the TDD Group Beam Forming field value is 0 and the TDD Beam Measurement field value is 0, it indicates that the TDD Beam Forming frame is a Sensing Request frame; when the TDD Group Beam Forming field value is 0 and the TDD Beam Measurement field value is 1, it indicates that the TDD Beam Forming frame is a Sensing Response frame; when the TDD Group Beam Forming field value is 1 and the TDD Beam Measurement field value is 0, it indicates that the TDD Beam Forming frame is a Sensing Poll frame. When the TDD Group Beam Forming field value is 1 and the TDD Beam Measurement field value is 1, it indicates that the TDD Beam Forming frame is a Sensing Measurement Poll frame.

[0199] TDD Beamforming Frame Type: indicates the type of the TDD beamforming frame. A value of 3 indicates that the frame is a TDD beamforming frame for DMG sensing.

[0200] End of Training: Indicates whether beam training is completed.

[0201] Measurement Setup ID: an identifier indicating the perception measurement setup associated with this perception measurement poll frame.

[0202] Measurement Burst ID: an identifier indicating the perception measurement burst associated with this perception measurement poll frame.

[0203] Sensing Instance Sequential Number (SN): indicates the identifier of the sensing measurement instance associated with the sensing measurement polling frame.

[0204] (2) Modification based on existing perception polling frame:

[0205] In this solution, the sensing measurement poll frame is a sensing poll frame (DMG Sensing Poll frame) with a poll type field added to the TDD beamforming control field in the MAC frame body. The poll type field is used to indicate that the sensing poll frame with the added poll type field is a sensing measurement poll frame. Optionally, the sensing poll frame is defined in the IEEE 802.11bf D0.1 standard.

[0206] For example, Figure 14 is a schematic diagram of the format of a perception measurement polling frame provided by an exemplary embodiment of the present application. As shown in Figure 14, the meaning of the fields in the MAC frame header of the perception measurement polling frame (a perception polling frame with an added polling type field) can refer to the newly defined perception measurement polling frame mentioned above, and this embodiment of the present application will not go into details about this. The values ​​of the TDD Group Beamforming (TDD Group Beamforming) field and the TDD Beam Measurement (TDD Beam Measurement) field in the MAC frame body of the perception measurement polling frame are 1 and 0 respectively, and the TDD Beamforming Frame Type (TDD Beamforming Frame Type) value is 3, indicating that the frame is a perception polling frame in the TDD beamforming frame for DMG perception.

[0207] Poll Type: Indicates the type of the perception poll frame. For specific values ​​and their meanings, please refer to Table 5.

[0208] Table 5

[0209] Value Meaning 0DMG perception reporting polling 1DMG perception measurement polling

[0210] As shown in Table 5, when the value of the Poll Type field is 1, the perception polling frame with the Poll Type field added is a perception measurement polling frame. When the value of the Poll Type field is 0, the perception polling frame with the Poll Type field added is a perception reporting polling frame.

[0211] The DMG Perception Report Polling indicates that this trigger frame is used to trigger the reporting of perception measurement results, while the DMG Perception Measurement Polling indicates that this trigger frame is used to trigger the transmission of a PPDU for perception measurement. The only difference in the frame format between these two trigger frames is the value of the "Poll Type" field; the other fields and their meanings are the same.

[0212] It should be noted that the above values ​​are only used as examples and are not intended to limit the methods provided in the embodiments of the present application. For example, when the value of the polling type field is 0, the perception polling frame with the polling type field added is a perception measurement polling frame. When the value of the polling type field is 1, the perception polling frame with the polling type field added is a perception reporting polling frame. That is, when the value of the polling type field is 0 or 1, the perception polling frame with the polling type field added may be a perception measurement polling frame. However, the values ​​of the polling type fields of the perception measurement polling frame and the perception reporting polling frame are different. For example, the value of the polling type field of the perception measurement polling frame can also be 2, and the value of the polling type field of the perception reporting polling frame can also be 3. In addition, the name "poll type" is only used as an example, and the name can also be replaced by other names.

[0213] It should be noted that, when the solution provided in the embodiment of the present application uses the perception measurement polling frame, the method of using the two frame formats of the perception measurement polling frame is the same.

[0214] Introduction to the perception reporting polling frame:

[0215] For the perception reporting polling frame, you can refer to the above introduction of the perception measurement polling frame modified based on the existing perception polling frame. For example, the perception reporting polling frame is a perception polling frame with a polling type field added to the TDD beamforming control field in the MAC frame body, and the polling type field is used to indicate that the perception polling frame with the added polling type field is a perception reporting polling frame. Similar to the above description, when the value of the polling type field is 0 or 1, the perception polling frame with the added polling type field may be a perception reporting polling frame. However, it is necessary to ensure that the values ​​of the polling type fields of the perception measurement polling frame and the perception reporting polling frame are different.

[0216] Introduction to the perception request frame:

[0217] For an introduction to the perception request frame, please refer to FIG8 and the relevant contents of Table 3, which will not be described in detail in the embodiments of the present application. The method provided in the embodiments of the present application, in the scheme using the perception request frame, is different from the related art mainly in that the method provided in the embodiments of the present application triggers the entire process of each (group) perception responder performing the perception measurement through the perception request frame, thereby solving the above-mentioned timing problem. For a detailed introduction to the scheme using the perception request frame, please refer to the subsequent embodiments.

[0218] The following describes the design of the perceptual measurement example process based on the above three types of frames:

[0219] The perception initiator can trigger each group or each participating perception responder to perform all or part of the perception measurement process through one of the three frames mentioned above. The specific cases can be divided into the following eight situations:

[0220] (1) In the sequential mode of cooperative single-base sensing measurement, each sensing executor is triggered to execute the sensing measurement phase and reporting phase of the sensing measurement process through the sensing measurement polling frame;

[0221] (2) In the sequential mode of cooperative single-base sensing measurement, each sensing executor except the first sensing executor is triggered to execute the sensing measurement phase and reporting phase in the sensing measurement process through the sensing measurement polling frame;

[0222] (3) In the sequential mode of cooperative single-base sensing measurement, each sensing executor is triggered by the sensing request frame to execute all stages of the sensing measurement process;

[0223] (4) In the parallel mode of cooperative single-base perception measurement, each perception executor is triggered to perform the reporting phase of the perception measurement process through the perception reporting polling frame;

[0224] (5) In the parallel mode of cooperative single-base sensing measurement, each sensing executor except the first sensing executor is triggered to perform the reporting phase of the sensing measurement process through the sensing reporting polling frame;

[0225] (6) In the cooperative dual-base sensing measurement, the sensing measurement polling frame is used to trigger each group of sensing executors to execute the sensing measurement phase and the reporting phase in the sensing measurement process;

[0226] (7) In the cooperative dual-base sensing measurement, each group of sensing executors except the first group of sensing executors is triggered by the sensing measurement polling frame to perform the sensing measurement phase and the reporting phase in the sensing measurement process;

[0227] (8) In cooperative dual-base sensing measurement, each group of sensing executors is triggered by the sensing request frame to execute all stages in the sensing measurement process.

[0228] The above solution is introduced below through 8 embodiments:

[0229] For the first case above:

[0230] FIG15 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method can be applied to the system shown in FIG1 , and the method includes:

[0231] Step 1502: After receiving the sensing response frames sent by all sensing responders, the sensing initiator sends a sensing measurement polling frame to the first sensing responder.

[0232] The type of the cooperative sensing measurement in this embodiment is a cooperative single-base sequential mode, and each sensing responder corresponds to a sensing measurement polling frame, which is used to trigger the sensing responder to send a single-base sensing measurement frame.

[0233] After receiving the perception measurement polling frame, the first perception responder will send and receive single-base perception measurement frames on its own to perceive the environment and send a perception measurement report frame to the perception initiator.

[0234] Optionally, there is a SIFS time difference between the perception response frame corresponding to the last perception responder and the perception measurement polling frame corresponding to the first perception responder.

[0235] Step 1504: After receiving the sensing measurement report frame sent by the i-th sensing responder, or sending an ACK frame to the i-th sensing responder, the sensing initiator sends a sensing measurement polling frame to the i+1-th sensing responder.

[0236] Optionally, the sensing initiator may send an ACK frame to the i-th sensing responder or may not send an ACK frame.

[0237] In the case of sending an ACK frame, the sensing initiator will send a sensing measurement poll frame to the i+1th sensing responder after sending an ACK frame to the i-th sensing responder. In the case of not sending an ACK frame, the sensing initiator will send a sensing measurement poll frame to the i+1th sensing responder after receiving the sensing measurement report frame sent by the i-th sensing responder.

[0238] Optionally, there is a SIFS time difference between the perception measurement report frame corresponding to the i-th perception responder or the ACK frame corresponding to the i-th perception responder and the perception measurement polling frame corresponding to the (i+1)-th perception responder.

[0239] After receiving the perception measurement poll frame, the i+1th perception responder will automatically send and receive single-base perception measurement frames to achieve environmental perception and send a perception measurement report frame to the perception responder. Where i is a positive integer.

[0240] In a specific example, Figure 16 is a flow diagram of a sequential mode of cooperative single-base sensing measurement provided by an exemplary embodiment of the present application. As shown in Figure 16, the process involves one Initiator (STA) and two Responders (STA A and STA B), and includes the following steps (from left to right):

[0241] (1) The Initiator sends a DMG perception request frame to STA A, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 0.

[0242] (2) After SIFS, STA A sends a DMG perception response frame to the Initiator.

[0243] (3) After SIFS, the Initiator sends a DMG perception request frame to STA B, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 1;

[0244] (4) After SIFS time, STA B replies with a DMG perception response frame to the Initiator;

[0245] (5) After the SIFS time, the Initiator sends a DMG perception measurement polling frame to STA A, triggering STA A to start perception measurement;

[0246] (6) After SIFS time, STA A sends and receives a single-base sensing measurement frame to sense the environment;

[0247] (7) After the SIFS time, STA A sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0248] (8) After SIFS, the Initiator sends an ACK frame to STA A.

[0249] (9) After the SIFS time, the Initiator sends a DMG perception measurement polling frame to STA B, triggering STA B to start perception measurement;

[0250] (10) After SIFS time, STA B sends and receives a single-base sensing measurement frame to sense the environment;

[0251] (11) After the SIFS time, STA B sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0252] (12) After SIFS time, the Initiator replies with an ACK frame to STA B.

[0253] It should be noted that the above (8) and (12) are optional steps. In the above example, there are only two Responders. If there are more Responders, the above method can be used to continue to trigger subsequent Responders to send single-base perception measurement frames. The above DMG perception measurement report frame is in the format shown in Figure 13 or the format shown in Figure 14. Compared with the process shown in Figure 4, the difference is that the Initiator needs to send DMG perception measurement polling frames to each Responder in turn to trigger it to send and receive single-base perception measurement frames. Each Responder starts to send and receive single-base perception measurement frames within the SIFS time after receiving the DMG perception measurement polling frame. The other processes are the same.

[0254] In summary, the method provided in this embodiment, through the perception initiator triggering each participating perception responder to execute the measurement and reporting phases of the perception measurement process through the perception measurement poll frame, can ensure that the time when each perception responder sends and receives the single-base perception measurement frame is only related to the time when it receives the perception measurement poll frame, and is unrelated to the duration of other perception responders sending and receiving single-base perception measurement frames. This can avoid the problem of collaborative perception of multiple perception devices not being able to perform normally. In addition, the perception initiator can send the perception measurement poll frame to each perception responder in a targeted manner, ensuring that each perception responder can reliably receive the trigger signal.

[0255] For the second case above:

[0256] FIG17 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method can be applied to the system shown in FIG1 , and the method includes:

[0257] Step 1702: After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, the perception initiator sends a perception measurement poll frame to the i+1-th perception responder.

[0258] The cooperative sensing measurement type in this embodiment is a cooperative single-base sequential mode. Each sensing responder except the first one corresponds to a sensing measurement poll frame. The sensing measurement poll frame is used to trigger the sensing responder to send a single-base sensing measurement frame. Wherein, i is a positive integer.

[0259] After all perception responders receive the perception request frame sent by the perception initiator and reply with the perception response frame, the first perception responder will send and receive the single-base perception measurement frame on its own to perceive the environment and send the perception measurement report frame to the perception initiator.

[0260] Optionally, the sensing initiator may send an ACK frame to the i-th sensing responder or may not send an ACK frame.

[0261] In the case of sending an ACK frame, the sensing initiator will send a sensing measurement poll frame to the i+1th sensing responder after sending an ACK frame to the i-th sensing responder. In the case of not sending an ACK frame, the sensing initiator will send a sensing measurement poll frame to the i+1th sensing responder after receiving the sensing measurement report frame sent by the i-th sensing responder.

[0262] After receiving the perception measurement polling frame, the i+1th perception responder will send and receive single-base perception measurement frames on its own, thereby realizing perception of the environment, and sending a perception measurement report frame to the perception responder.

[0263] Optionally, there is a SIFS time difference between the perception measurement report frame corresponding to the i-th perception responder or the ACK frame corresponding to the i-th perception responder and the perception measurement polling frame corresponding to the (i+1)-th perception responder.

[0264] In a specific example, Figure 18 is a flow diagram of a sequential mode of cooperative single-base sensing measurement provided by an exemplary embodiment of the present application. As shown in Figure 18, the process involves one Initiator (STA) and two Responders (STA A and STA B), and includes the following steps (from left to right):

[0265] (1) The Initiator sends a DMG perception request frame to STA A, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 0.

[0266] (2) After SIFS, STA A sends a DMG perception response frame to the Initiator.

[0267] (3) After SIFS, the Initiator sends a DMG perception request frame to STA B, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 1;

[0268] (4) After SIFS time, STA B replies with a DMG perception response frame to the Initiator;

[0269] (5) After SIFS time, STA A sends and receives a single-base sensing measurement frame to sense the environment;

[0270] (6) After the SIFS time, STA A sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0271] (7) After SIFS, the Initiator sends an ACK frame to STA A.

[0272] (8) After the SIFS time, the Initiator sends a DMG perception measurement polling frame to STA B, triggering STA B to start perception measurement;

[0273] (9) After SIFS time, STA B sends and receives a single-base sensing measurement frame to sense the environment;

[0274] (10) After the SIFS time, STA B sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0275] (11) After SIFS time, the Initiator replies with an ACK frame to STA B.

[0276] It should be noted that the above (7) and (11) are optional steps. In the above example, there are only two Responders. If there are more Responders, the above method can be used to continue to trigger subsequent Responders to send single-base perception measurement frames. The above DMG perception measurement report frame is in the format shown in Figure 13 or the format shown in Figure 14. Compared with the process shown in Figure 16, the difference is that after the last Responder (STA B) replies to the DMG perception response frame to the Initiator, after SIFS time, the first Responder (STA A) actively starts to send and receive single-base perception measurement frames to perceive the environment without waiting for the Initiator to send the DMG perception measurement polling frame. The other processes are the same.

[0277] In summary, the method provided in this embodiment, by having the perception initiator trigger each subsequent perception responder participating in the collaboration through a perception measurement poll frame to execute the measurement phase and reporting phase of the perception measurement process, can ensure that the time when each perception responder other than the first one sends and receives the single-base perception measurement frame is only related to the time when it receives the perception measurement poll frame, and is unrelated to the duration of the transmission and reception of the single-base perception measurement frame by other perception responders. This can avoid the problem of collaborative perception of multiple perception devices not being able to proceed normally. In addition, the perception initiator can send the perception measurement poll frame in a directionally manner to each perception responder other than the first one, ensuring that each perception responder other than the first one can reliably receive the trigger signal.

[0278] Regarding the third situation mentioned above:

[0279] FIG19 is a flow chart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method can be applied to the system shown in FIG1 , and the method includes:

[0280] Step 1902: The perception initiator sends a perception request frame to the first perception responder.

[0281] The cooperative sensing measurement type in this embodiment is a cooperative single-base sequential mode, and each sensing responder corresponds to a sensing request frame. The sensing request frame is used to trigger a sensing responder to execute all stages in the sensing measurement process.

[0282] After receiving the perception request frame, the first perception responder will send a perception response frame to the perception initiator, and then send and receive single-base perception measurement frames on its own to achieve perception of the environment, and send a perception measurement report frame to the perception responder.

[0283] Step 1904: After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, the perception initiator sends a perception request frame to the i+1-th perception responder.

[0284] Optionally, the sensing initiator may send an ACK frame to the i-th sensing responder or may not send an ACK frame.

[0285] In the case of sending an ACK frame, the sensing initiator will send a sensing request frame to the i+1 sensing responder after sending an ACK frame to the i-th sensing responder. In the case of not sending an ACK frame, the sensing initiator will send a sensing measurement poll frame to the i+1-th sensing responder after receiving the sensing measurement report frame sent by the i-th sensing responder.

[0286] After receiving the perception request frame, the i+1th perception responder will send a perception response frame to the perception initiator, and then it will send and receive single-base perception measurement frames to achieve environmental perception, and send a perception measurement report frame to the perception responder. Where i is a positive integer.

[0287] Optionally, there is a SIFS time difference between the perception measurement report frame corresponding to the i-th perception responder or the ACK frame corresponding to the i-th perception responder and the perception request frame corresponding to the (i+1)-th perception responder.

[0288] In a specific example, Figure 20 is a flow diagram of a sequential mode of cooperative single-base sensing measurement provided by an exemplary embodiment of the present application. As shown in Figure 20, the process involves one Initiator (STA) and two Responders (STA A and STA B), and includes the following steps (from left to right):

[0289] (1) The Initiator first sends a DMG perception request frame to STA A, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 0.

[0290] (2) After SIFS, STA A sends a DMG perception response frame to the Initiator.

[0291] (3) After SIFS time, STA A sends and receives a single-base sensing measurement frame to sense the environment;

[0292] (4) After the SIFS time, STA A sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0293] (5) After SIFS, the Initiator sends an ACK frame to STA A.

[0294] (6) After SIFS time, the Initiator sends a DMG perception request frame to STA B, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 1;

[0295] (7) After SIFS, STA B sends a DMG perception response frame to the Initiator.

[0296] (8) After SIFS time, STA B sends and receives a single-base sensing measurement frame to sense the environment;

[0297] (9) After the SIFS time, STA B sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0298] (10) After SIFS time, the Initiator replies with an ACK frame to STA B.

[0299] It should be noted that (5) and (10) above are optional steps. In the above example, there are only two Responders. If there are more Responders, the above method can be used to continue to trigger subsequent Responders to execute the entire perception measurement process. The above DMG perception request frame is in the format shown in Figure 8. Compared with the process shown in Figure 4, the difference is that the Initiator starts to interact with STA B only after interacting with STA A for all frames. That is, only after the Responder completes the entire perception measurement process will the Initiator trigger the next Responder to execute the entire perception measurement process through the DMG perception request frame.

[0300] To sum up, the method provided in this embodiment, through the perception initiator triggering each perception responder participating in the collaboration to perform the entire process of perception measurement through the perception request frame, can achieve the moment when each perception responder starts to perform the perception measurement process is only related to the moment when it receives the perception request frame, which can avoid the problem of collaborative perception of multiple perception devices not being able to proceed normally.

[0301] Regarding the fourth situation mentioned above:

[0302] FIG21 is a flow chart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method can be applied to the system shown in FIG1 , and the method includes:

[0303] Step 2102: After the first sensing responder sends and receives the single-base sensing measurement frame, the sensing initiator sends a sensing reporting polling frame to the first sensing responder.

[0304] The cooperative sensing measurement type in this embodiment is a cooperative single-base parallel mode, and each sensing responder corresponds to a sensing report polling frame. The sensing report polling frame is used to trigger the sensing responder to send a sensing measurement report frame.

[0305] After receiving the perception report poll frame, the first perception responder sends a perception measurement report frame to the perception initiator. Prior to this, the first perception responder has already sent and received single-base perception measurement frames to achieve environmental perception.

[0306] For example, in the parallel mode of cooperative single-base, different perception responders simultaneously send and receive single-base perception measurement frames, thereby realizing perception of the environment.

[0307] Optionally, there is a SIFS time difference between the single-base sensing measurement frame corresponding to the first sensing responder and the sensing reporting polling frame corresponding to the first sensing responder.

[0308] Step 2104: After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, the perception initiator sends a perception reporting polling frame to the i+1-th perception responder.

[0309] Optionally, the sensing initiator may send an ACK frame to the i-th sensing responder or may not send an ACK frame.

[0310] In the case of sending an ACK frame, the perception initiator will send a perception report polling frame to the i+1th perception responder after sending an ACK frame to the i-th perception responder. In the case of not sending an ACK frame, the perception initiator will send a perception report polling frame to the i+1th perception responder after receiving the perception measurement report frame sent by the i-th perception responder.

[0311] After receiving the perception report polling frame, the i+1th perception responder will send a perception measurement report frame to the perception responder, where i is a positive integer.

[0312] Optionally, there is a SIFS time difference between the perception measurement report frame corresponding to the i-th perception responder or the ACK frame corresponding to the i-th perception responder and the perception reporting polling frame corresponding to the (i+1)-th perception responder.

[0313] In a specific example, Figure 22 is a flow diagram of a parallel mode of cooperative single-base sensing measurement provided by an exemplary embodiment of the present application. As shown in Figure 22, the process involves one Initiator (STA) and two Responders (STA A and STA B), and includes the following steps (from left to right):

[0314] (1) The Initiator sends a DMG perception request frame to STA A, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 0.

[0315] (2) After SIFS, STA A sends a DMG perception response frame to the Initiator.

[0316] (3) After SIFS, the Initiator sends a DMG perception request frame to STA B, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 1;

[0317] (4) After SIFS, STA B sends a DMG perception response frame to the Initiator.

[0318] (5) After the SIFS time, STA A and STA B simultaneously send and receive a single-base sensing measurement frame to sense the environment;

[0319] (6) After a certain period of time, the Initiator sends a DMG perception reporting polling frame to STA A, triggering STA A to report the perception measurement results;

[0320] (7) After the SIFS time, STA A sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0321] (8) After SIFS, the Initiator sends an ACK frame to STA A.

[0322] (9) After the SIFS time, the Initiator sends a DMG perception reporting polling frame to STA B, triggering STA B to report the perception measurement results;

[0323] (10) After the SIFS time, STA B sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0324] (11) After SIFS time, the Initiator replies with an ACK frame to STA B.

[0325] It should be noted that the above (8) and (11) are optional steps. In the above example, there are only two Responders. If there are more Responders, the above method can be used to continue to trigger subsequent Responders to send DMG perception measurement report frames. The above DMG perception reporting polling frame is in the format shown in Figure 14. In addition, the DMG perception reporting polling frame used in the embodiment of the present application can be replaced by a DMG perception polling frame, and the DMG perception polling frame is in the format shown in Figure 10. That is, the DMG perception polling frame can also trigger the Responder to send a DMG perception measurement report frame. The Initiator triggers the Responder to send a DMG perception measurement report frame by sending the DMG perception polling frame to the Responder.

[0326] Compared with the process shown in Figure 5, the difference is that the Initiator needs to send a DMG perception reporting polling frame to each Responder in turn to trigger it to send a DMG perception measurement report frame. Each Responder feeds back a DMG perception measurement report frame to the Initiator within SIFS time after receiving the DMG perception reporting polling frame. The other processes are the same.

[0327] In summary, the method provided in this embodiment, by having the perception initiator trigger each participating perception responder to execute the reporting phase of the perception measurement process through a perception reporting poll frame, can ensure that the time when each perception responder sends the perception measurement reporting frame is only related to the time when it receives the perception reporting poll frame, and is independent of the time when other perception responders send perception measurement reporting frames. This can avoid the problem of collaborative perception of multiple perception devices not being able to perform normally. In addition, the perception initiator can send the perception reporting poll frame to each perception responder in a targeted manner, ensuring that each perception responder can reliably receive the trigger signal.

[0328] Regarding the fifth situation mentioned above:

[0329] FIG23 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method can be applied to the system shown in FIG1 , and the method includes:

[0330] Step 2302: After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, the perception initiator sends a perception reporting polling frame to the i+1-th perception responder.

[0331] The cooperative sensing measurement type in this embodiment is a cooperative single-base parallel mode, and each sensing responder except the first one corresponds to a sensing report polling frame. The sensing report polling frame is used to trigger the sensing responder to send a sensing measurement report frame, and i is a positive integer.

[0332] After all sensing responders receive the sensing request frame sent by the sensing initiator and reply with a sensing response frame, each sensing responder will simultaneously send and receive single-base sensing measurement frames to achieve environmental perception. The first sensing responder will then send a sensing measurement report frame to the sensing initiator.

[0333] Optionally, the sensing initiator may send an ACK frame to the i-th sensing responder or may not send an ACK frame.

[0334] In the case of sending an ACK frame, the perception initiator will send a perception report polling frame to the i+1th perception responder after sending an ACK frame to the i-th perception responder. In the case of not sending an ACK frame, the perception initiator will send a perception report polling frame to the i+1th perception responder after receiving the perception measurement report frame sent by the i-th perception responder.

[0335] After receiving the perception reporting polling frame, the i+1th perception responder will send a perception measurement report frame to the perception responder.

[0336] Optionally, there is a SIFS time difference between the perception measurement report frame corresponding to the i-th perception responder or the ACK frame corresponding to the i-th perception responder and the perception reporting polling frame corresponding to the (i+1)-th perception responder.

[0337] In a specific example, Figure 24 is a flow diagram of a parallel mode of cooperative single-base sensing measurement provided by an exemplary embodiment of the present application. As shown in Figure 24, the process involves one Initiator (STA) and two Responders (STA A and STA B), and includes the following steps (from left to right):

[0338] (1) The Initiator sends a DMG perception request frame to STA A, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 0.

[0339] (2) After SIFS, STA A sends a DMG perception response frame to the Initiator.

[0340] (3) After SIFS, the Initiator sends a DMG perception request frame to STA B, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 1;

[0341] (4) After SIFS, STA B sends a DMG perception response frame to the Initiator.

[0342] (5) After the SIFS time, STA A and STA B simultaneously send and receive a single-base sensing measurement frame to sense the environment;

[0343] (6) After the SIFS time, STA A sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0344] (7) After SIFS, the Initiator sends an ACK frame to STA A.

[0345] (8) After the SIFS time, the Initiator sends a DMG perception reporting polling frame to STA B, triggering STA B to report the perception measurement results;

[0346] (9) After the SIFS time, STA B sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0347] (10) After SIFS time, the Initiator replies with an ACK frame to STA B.

[0348] It should be noted that the above (7) and (10) are optional steps. In the above example, there are only two Responders. If there are more Responders, the above method can be used to continue to trigger subsequent Responders to send DMG perception measurement report frames. The above DMG perception reporting polling frame is in the format shown in Figure 14. In addition, the DMG perception reporting polling frame used in the embodiment of the present application can be replaced by a DMG perception polling frame, and the DMG perception polling frame is in the format shown in Figure 10. That is, the DMG perception polling frame can also trigger the Responder to send a DMG perception measurement report frame. The Initiator triggers the Responder to send a DMG perception measurement report frame by sending the DMG perception polling frame to the Responder.

[0349] Compared with the process shown in Figure 22, the difference is that the first Responder (STA A) can actively send a DMG perception measurement report frame to the Initiator within the SIFS time after it sends and receives the single-base perception measurement frame, without waiting for the DMG perception reporting polling frame sent by the Initiator.

[0350] In summary, the method provided in this embodiment, by having the perception initiator trigger each collaborative perception responder other than the first one to execute the reporting phase of the perception measurement process through a perception reporting polling frame, can ensure that the time when each perception responder other than the first one sends the perception measurement reporting frame is only related to the time when it receives the perception reporting polling frame, and is unrelated to the time when other perception responders send perception measurement reporting frames. This can avoid the problem of collaborative perception of multiple perception devices not being able to proceed normally. In addition, the perception initiator can send the perception reporting polling frame in a targeted manner to each perception responder other than the first one, ensuring that each perception responder other than the first one can reliably receive the trigger signal.

[0351] Regarding the sixth situation mentioned above:

[0352] FIG25 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method can be applied to the system shown in FIG1 , and the method includes:

[0353] Step 2502: After receiving the sensing response frames sent by all sensing responders, the sensing initiator sends a sensing measurement polling frame to the sensing senders in the first group of sensing responders.

[0354] The collaborative sensing measurement type in this embodiment is collaborative dual-base. Each group of sensing responders includes a sensing sender and a sensing receiver. Each group of sensing responders corresponds to a sensing measurement poll frame, which is used to trigger the sensing sender to send a BRP frame carrying the TRN field.

[0355] After receiving the perception measurement polling frame, the perception sender in the first group of perception responders will send a BRP frame with a TRN field to the perception receiver in the first group, and receive the BRP frame with a report sent by the perception receiver, thereby realizing perception of the environment, and then sending a perception measurement report frame to the perception initiator.

[0356] Optionally, there is a SIFS time difference between the perception response frame corresponding to the perception receiver in the last group of perception responders and the perception measurement polling frame corresponding to the perception sender in the first group of perception responders.

[0357] Step 2504: After receiving the perception measurement report frame sent by the perception sender in the i-th group of perception responders, or sending an ACK frame to the perception sender in the i-th group of perception responders, the perception initiator sends a perception measurement poll frame to the perception sender in the i+1-th group of perception responders.

[0358] Optionally, the sensing initiator may send an ACK frame to the sensing sender in the i-th group of sensing responders or may not send an ACK frame.

[0359] In the case of sending an ACK frame, the sensing initiator sends an ACK frame to the sensing sender in the i-th group of sensing responders, and then sends a sensing measurement poll frame to the sensing sender in the i+1-th group of sensing responders. In the case of not sending an ACK frame, the sensing initiator sends a sensing measurement poll frame to the sensing sender in the i+1-th group of sensing responders after receiving the sensing measurement report frame sent by the sensing sender in the i-th group of sensing responders.

[0360] After receiving the Perception Measurement Poll frame, the Perception Senders in the i+1th group of Perception Responders send BRP frames with the TRN field to the Perception Receivers in the ith group, receive BRP frames with reports sent by the Perception Receivers, and thus achieve perception of the environment. They then send Perception Measurement Report frames to the Perception Initiators. Here, i is a positive integer.

[0361] Optionally, there is a SIFS time difference between the perception measurement report frame corresponding to the perception sender in the i-th group of perception responders or the ACK frame corresponding to the perception sender in the i-th group of perception responders and the perception measurement polling frame corresponding to the perception sender in the i+1-th group of perception responders.

[0362] In a specific example, Figure 26 is a schematic diagram of the process of collaborative dual-base sensing measurement provided by an exemplary embodiment of the present application. As shown in Figure 26, the process is participated by one Initiator (STA) and four Responders (STA A, STA B, STA C, STA D). Among them, STA A and STA B are a group, and STA C and STA D are a group. STA A and STA C are sensing senders, and STA B and STA D are sensing receivers (the role setting completed by the Initiator in the sensing measurement setting phase). It includes the following processes (from left to right):

[0363] (1) The Initiator sends a DMG perception request frame to STA A, where the "Number of STAs in the instance" is set to 4, the "Number of PPDUs" is set to 1, and the "STA ID" is set to 0.

[0364] (2) After SIFS, STA A sends a DMG perception response frame to the Initiator.

[0365] (3) After SIFS, the Initiator sends a DMG perception request frame to STA B, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 1;

[0366] (4) After SIFS, STA B sends a DMG perception response frame to the Initiator.

[0367] (5) The Initiator sends a DMG perception request frame to STA C, where the "number of STAs in the instance" is set to 4, the "number of PPDUs" is set to 1, and the "STA ID" is set to 2.

[0368] (6) After SIFS, STA C replies with a DMG perception response frame to the Initiator.

[0369] (7) After SIFS, the Initiator sends a DMG perception request frame to STA D, where the "number of STAs in the instance" is set to 4, the "number of PPDUs" is set to 1, and the "STA ID" is set to 3.

[0370] (8) After SIFS time, STA D replies with a DMG perception response frame to the Initiator;

[0371] (9) After the SIFS time, the Initiator sends a DMG sensing measurement polling frame to STA A, triggering STA A to start dual-static sensing measurement with STA B.

[0372] (10) After SIFS, STA A sends a BRP frame with a TRN field to STA B to sense the environment.

[0373] (11) After the BRP Interframe Space (BRPIFS) time, STA B replies with a BRP frame containing a Report to STA A.

[0374] (12) After the SIFS time, STA A sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0375] (13) After SIFS, the Initiator sends an ACK frame to STA A.

[0376] (14) After the SIFS time, the Initiator sends a DMG perception measurement polling frame to STA C, triggering STA C to start perception measurement;

[0377] (15) After SIFS time, STA C sends a BRP frame with a TRN field to STA D to sense the environment;

[0378] (16) After BRPIFS time, STA D replies with a BRP frame containing Report to STA C;

[0379] (17) After the SIFS time, STA C sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0380] (18) After SIFS time, the Initiator replies with an ACK frame to STA C.

[0381] It should be noted that the above (13) and (18) are optional steps. In the above example, there are only two groups of Responders. If there are more groups of Responders, the above method can be used to continue to trigger the Responders of subsequent groups to perform dual-base sensing measurements. The above DMG sensing measurement report frame is in the format shown in Figure 13 or the format shown in Figure 14. Compared with the process shown in Figure 6, the difference is that the Initiator needs to send DMG sensing measurement polling frames to the Tx in each group of Responders in turn to trigger dual-base sensing measurements. After the SIFS time after receiving the DMG sensing measurement polling frame, the Tx in each group of Responders starts to perform dual-base sensing measurements with the Rx. The other processes are the same.

[0382] In summary, the method provided in this embodiment, through the perception initiator triggering each group of collaborative perception responders to execute the measurement and reporting phases of the perception measurement process using a perception measurement poll frame, ensures that the time when each group of perception responders executes dual-static perception measurements is solely related to the time when it receives the perception measurement poll frame, and is independent of the time when other groups of perception responders execute dual-static perception measurements. This can avoid the problem of collaborative perception of multiple perception devices not being able to perform normally. In addition, the perception initiator can send the perception measurement poll frame in a targeted manner to the perception senders in each group of perception responders, ensuring that each perception sender can reliably receive the trigger signal.

[0383] Regarding the seventh situation mentioned above:

[0384] FIG27 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method can be applied to the system shown in FIG1 , and the method includes:

[0385] Step 2702: After receiving a perception measurement report frame sent by a perception sender in the i-th group of perception responders, or sending an ACK frame to a perception sender in the i-th group of perception responders, the perception initiator sends a perception measurement poll frame to the perception sender in the i+1-th group of perception responders.

[0386] In this embodiment, the cooperative sensing measurement type is cooperative dual-base. Each group of sensing responders includes a sensing sender and a sensing receiver. Each group of sensing responders, except the first group, corresponds to a sensing measurement poll frame. This sensing measurement poll frame triggers the sensing sender to send a BRP frame carrying the TRN field. Where i is a positive integer.

[0387] After all the perception responders receive the perception request frame sent by the perception initiator and reply with the perception response frame, the first group of perception responders will perform dual-base perception measurement to achieve perception of the environment, and the perception sender in the first group of perception responders will send a perception measurement report frame to the perception initiator.

[0388] Optionally, the sensing initiator may send an ACK frame to the sensing sender in the i-th group of sensing responders or may not send an ACK frame.

[0389] In the case of sending an ACK frame, the sensing initiator sends an ACK frame to the sensing sender in the i-th group of sensing responders, and then sends a sensing measurement poll frame to the sensing sender in the i+1-th group of sensing responders. In the case of not sending an ACK frame, the sensing initiator sends a sensing measurement poll frame to the sensing sender in the i+1-th group of sensing responders after receiving the sensing measurement report frame sent by the sensing sender in the i-th group of sensing responders.

[0390] After receiving the perception measurement poll frame, the perception sender in the i+1th group of perception responders will send a BRP frame with a TRN field to the perception receiver in the i-th group, and receive the BRP frame with a report sent by the perception receiver, thereby realizing perception of the environment, and then sending a perception measurement report frame to the perception initiator.

[0391] Optionally, there is a SIFS time difference between the perception measurement report frame corresponding to the perception sender in the i-th group of perception responders or the ACK frame corresponding to the perception sender in the i-th group of perception responders and the perception measurement polling frame corresponding to the perception sender in the i+1-th group of perception responders.

[0392] In a specific example, Figure 28 is a schematic diagram of the process of collaborative dual-base sensing measurement provided by an exemplary embodiment of the present application. As shown in Figure 28, the process involves one Initiator (STA) and four Responders (STA A, STA B, STA C, STA D). STA A and STA B are a group, and STA C and STA D are a group. STA A and STA C are sensing senders, and STA B and STA D are sensing receivers (the role setting completed by the Initiator during the sensing measurement setting phase). The following processes are included (from left to right):

[0393] (1) The Initiator sends a DMG perception request frame to STA A, where the "Number of STAs in the instance" is set to 4, the "Number of PPDUs" is set to 1, and the "STA ID" is set to 0.

[0394] (2) After SIFS, STA A sends a DMG perception response frame to the Initiator.

[0395] (3) After SIFS, the Initiator sends a DMG perception request frame to STA B, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 1;

[0396] (4) After SIFS, STA B sends a DMG perception response frame to the Initiator.

[0397] (5) The Initiator sends a DMG perception request frame to STA C, where the "number of STAs in the instance" is set to 4, the "number of PPDUs" is set to 1, and the "STA ID" is set to 2.

[0398] (6) After SIFS, STA C replies with a DMG perception response frame to the Initiator.

[0399] (7) After SIFS, the Initiator sends a DMG perception request frame to STA D, where the "number of STAs in the instance" is set to 4, the "number of PPDUs" is set to 1, and the "STA ID" is set to 3.

[0400] (8) After SIFS time, STA D replies with a DMG perception response frame to the Initiator;

[0401] (9) After SIFS, STA A sends a BRP frame with a TRN field to STA B to sense the environment.

[0402] (10) After BRPIFS time, STA B replies with a BRP frame containing Report to STA A;

[0403] (11) After the SIFS time, STA A sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0404] (12) After SIFS, the Initiator sends an ACK frame to STA A.

[0405] (13) After the SIFS time, the Initiator sends a DMG perception measurement polling frame to STA C, triggering STA C to start perception measurement;

[0406] (14) After SIFS time, STA C sends a BRP frame with a TRN field to STA D to sense the environment;

[0407] (15) After BRPIFS time, STA D replies with a BRP frame containing Report to STA C;

[0408] (16) After the SIFS time, STA C sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0409] (17) After SIFS time, the Initiator replies with an ACK frame to STA C.

[0410] It should be noted that (12) and (17) above are optional steps. In the above example, there are only two groups of Responders. If there are more groups of Responders, the above method can be used to continue to trigger the Responders of subsequent groups to perform dual-base sensing measurements. The above DMG sensing measurement report frame is in the format shown in Figure 13 or the format shown in Figure 14. Compared with the process shown in Figure 26, the difference is that after the last Responder (STA D) replies to the DMG sensing response frame to the Initiator, after SIFS time, the first Responder (STA A) actively starts sending BRP frames to STA B to sense the environment without waiting for the Initiator to send the DMG sensing measurement polling frame.

[0411] In summary, the method provided in this embodiment, by having the perception initiator trigger each group of collaborative perception responders other than the first group to execute the measurement and reporting phases of the perception measurement process through a perception measurement poll frame, can ensure that the time when each group of perception responders other than the first group executes dual-static perception measurement is only related to the time when it receives the perception measurement poll frame, and is independent of the time when other groups of perception responders execute dual-static perception measurement. This can avoid the problem of collaborative perception of multiple perception devices not being able to perform normally. In addition, the perception initiator can send the perception measurement poll frame in a targeted manner to the perception senders in each group of perception responders other than the first group, ensuring that each perception sender can reliably receive the trigger signal.

[0412] Regarding the eighth situation mentioned above:

[0413] FIG29 is a flowchart of a collaborative sensing measurement method provided by an exemplary embodiment of the present application. The method can be applied to the system shown in FIG1 , and the method includes:

[0414] Step 2902: The perception initiator sends a perception request frame to the perception sender and perception receiver in the first group of perception responders respectively.

[0415] In this embodiment, the collaborative sensing measurement type is collaborative dual-base. Each sensing responder in a group of sensing responders corresponds to a sensing request frame. Each sensing responder group includes a sensing sender and a sensing receiver. The sensing request frame is used to trigger the group of sensing responders to execute all stages of the sensing measurement process.

[0416] After receiving the perception request frame in turn, the perception sender and perception receiver in the first group of perception responders will send perception response frames to the perception initiator in turn. After that, the first group of perception responders will perform dual-base perception measurement (including the perception sender in the first group sending a BRP frame with a TRN field to the perception receiver, and receiving the BRP frame with a report sent by the perception receiver), thereby realizing perception of the environment, and the perception sender in the first group sends a perception measurement report frame to the perception responder.

[0417] Step 2904: After receiving the perception measurement report frame sent by the perception sender in the i-th group of perception responders, or sending an ACK frame to the perception sender in the i-th group of perception responders, the perception initiator sends a perception request frame to the perception sender and perception receiver in the i+1-th group of perception responders respectively.

[0418] Optionally, the sensing initiator may send an ACK frame to the sensing sender in the i-th group of sensing responders or may not send an ACK frame. In the case of sending an ACK frame, after sending an ACK frame to the sensing sender in the i-th group of sensing responders, the sensing initiator may send a sensing request frame to the sensing sender and sensing receiver in the i+1-th group of sensing responders, respectively. In the case of not sending an ACK frame, after receiving a sensing measurement report frame sent by the sensing sender in the i-th group of sensing responders, the sensing initiator may send a sensing request frame to the sensing sender and sensing receiver in the i+1-th group of sensing responders, respectively.

[0419] After receiving the sensing request frame, the sensing sender and sensing receiver in the i+1th group of sensing responders will respectively send a sensing response frame to the sensing initiator. Then, the i+1th group of sensing responders will perform dual-base sensing measurements to achieve environmental perception. The sensing sender in the i+1th group will send a sensing measurement report frame to the sensing responder. Where i is a positive integer.

[0420] Optionally, there is a SIFS time difference between the perception measurement report frame corresponding to the perception sender in the i-th group of perception responders or the ACK frame corresponding to the perception sender in the i-th group of perception responders and the perception request frame corresponding to the perception sender in the i+1-th group of perception responders.

[0421] In a specific example, Figure 30 is a schematic diagram of the process of collaborative dual-base sensing measurement provided by an exemplary embodiment of the present application. As shown in Figure 30, the process is participated by one Initiator (STA) and four Responders (STA A, STA B, STA C, STA D). Among them, STA A and STA B are a group, and STA C and STA D are a group. STA A and STA C are sensing senders, and STA B and STA D are sensing receivers (the role setting completed by the Initiator in the sensing measurement setting phase). It includes the following processes (from left to right):

[0422] (1) The Initiator sends a DMG perception request frame to STA A, where the "Number of STAs in the instance" is set to 4, the "Number of PPDUs" is set to 1, and the "STA ID" is set to 0.

[0423] (2) After SIFS, STA A sends a DMG perception response frame to the Initiator.

[0424] (3) After SIFS, the Initiator sends a DMG perception request frame to STA B, where the "number of STAs in the instance" is set to 2, the "number of PPDUs" is set to 1, and the "STA ID" is set to 1;

[0425] (4) After SIFS, STA B sends a DMG perception response frame to the Initiator.

[0426] (5) After SIFS, STA A sends a BRP frame with a TRN field to STA B to sense the environment.

[0427] (6) After BRPIFS time, STA B replies with a BRP frame containing Report to STA A;

[0428] (7) After the SIFS time, STA A sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0429] (8) After SIFS, the Initiator sends an ACK frame to STA A.

[0430] (9) The Initiator sends a DMG perception request frame to STA C, where the "number of STAs in the instance" is set to 4, the "number of PPDUs" is set to 1, and the "STA ID" is set to 2.

[0431] (10) After SIFS, STA C replies with a DMG perception response frame to the Initiator.

[0432] (11) After SIFS time, the Initiator sends a DMG perception request frame to STA D, where the "number of STAs in the instance" is set to 4, the "number of PPDUs" is set to 1, and the "STA ID" is set to 3;

[0433] (12) After SIFS time, STA D replies with a DMG perception response frame to the Initiator;

[0434] (13) After SIFS time, STA C sends a BRP frame with a TRN field to STA D to sense the environment;

[0435] (14) After BRPIFS time, STA D replies with a BRP frame containing Report to STA C;

[0436] (15) After the SIFS time, STA C sends a DMG perception measurement report frame to the Initiator to report the perception measurement results;

[0437] (16) After SIFS time, the Initiator replies with an ACK frame to STA C.

[0438] It should be noted that (8) and (16) above are optional steps. In the above example, there are only two groups of Responders. If there are more groups of Responders, the above method can be used to continue to trigger the subsequent groups of Responders to execute the entire perception measurement process. The above DMG perception request frame is in the format shown in Figure 8. Compared with the process shown in Figure 6, the difference is that the Initiator will not start to interact with the second group of Responders until all frames have been exchanged with the first group of Responders. That is, only after one group of Responders has completed the entire perception measurement process will the Initiator trigger the next group of Responders to execute the entire perception measurement process through the DMG perception request frame.

[0439] To sum up, the method provided in this embodiment, by having the perception initiator trigger each group of collaborative perception responders to perform the entire process of perception measurement through a perception request frame, can ensure that the moment when each group of perception responders starts to perform the perception measurement process is only related to the moment when they receive the perception request frame, thereby avoiding the problem that the collaborative perception of multiple perception devices cannot proceed normally.

[0440] It should be noted that the order of the above different situations does not have a preferred meaning, but is only for the convenience of expression.

[0441] FIG31 is a block diagram of a collaborative awareness measurement device provided by an exemplary embodiment of the present application. As shown in FIG31 , the device includes:

[0442] The trigger module 3101 is used to trigger each group or each collaborative sensing responder to execute all or part of the sensing measurement process in a polling triggering manner during the collaborative sensing measurement process.

[0443] In an optional design, the polling trigger is implemented based on at least one of the following frames:

[0444] Perception request frame;

[0445] Perception measurement polling frame;

[0446] Perception reporting polling frame;

[0447] Among them, the perception request frame is used to trigger the perception responder to perform all stages in the perception measurement process, the perception measurement polling frame is used to trigger the perception responder to perform the perception measurement stage and the reporting stage in the perception measurement process, and the perception reporting polling frame is used to trigger the perception responder to perform the reporting stage in the perception measurement process.

[0448] In an optional design, each group or each of the sensing responders corresponds to one sensing measurement polling frame.

[0449] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base sequential mode; the apparatus further includes a sending module 3102, wherein the sending module 3102 is configured to:

[0450] After receiving the sensing response frames sent by all the sensing responders, sending the sensing measurement polling frame to the first sensing responder;

[0451] After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, sending the perception measurement polling frame to the (i+1)-th perception responder;

[0452] The perception measurement polling frame is used to trigger the perception responder to send a single-base perception measurement frame, and i is a positive integer.

[0453] In an optional design, the type of the collaborative sensing measurement is collaborative dual-base, and each group of the sensing responders includes a sensing sender and a sensing receiver; the apparatus further includes a sending module 3102, wherein the sending module 3102 is configured to:

[0454] After receiving the sensing response frames sent by all the sensing responders, sending the sensing measurement polling frame to the sensing senders in the first group of sensing responders;

[0455] After receiving the perception measurement report frame sent by the perception sender in the i-th group of perception responders, or sending an ACK frame to the perception sender in the i-th group of perception responders, sending the perception measurement poll frame to the perception sender in the i+1-th group of perception responders;

[0456] The perception measurement polling frame is used to trigger the perception sender to send a BRP frame carrying a TRN field, and i is a positive integer.

[0457] In an optional design, each group of the sensing responders except the first group or each sensing responder except the first one corresponds to one sensing measurement polling frame.

[0458] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base sequential mode; the apparatus further includes a sending module 3102, wherein the sending module 3102 is configured to:

[0459] After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, sending the perception measurement polling frame to the (i+1)-th perception responder;

[0460] The perception measurement polling frame is used to trigger the perception responder to send a single-base perception measurement frame, and i is a positive integer.

[0461] In an optional design, the type of the collaborative sensing measurement is collaborative dual-base, and each group of the sensing responders includes a sensing sender and a sensing receiver; the apparatus further includes a sending module 3102, wherein the sending module 3102 is configured to:

[0462] After receiving the perception measurement report frame sent by the perception sender in the i-th group of perception responders, or sending an ACK frame to the perception sender in the i-th group of perception responders, sending the perception measurement poll frame to the perception sender in the i+1-th group of perception responders;

[0463] The perception measurement polling frame is used to trigger the perception sender to send a BRP frame carrying a TRN field, and i is a positive integer.

[0464] In an optional design, each perception responder in a group of perception responders corresponds to one perception request frame, or each perception responder corresponds to one perception request frame.

[0465] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base sequential mode; the apparatus further includes a sending module 3102, wherein the sending module 3102 is configured to:

[0466] Sending the sensing request frame to the first sensing responder;

[0467] After receiving the sensing measurement report frame sent by the i-th sensing responder, or sending an ACK frame to the i-th sensing responder, sending the sensing request frame to the (i+1)-th sensing responder;

[0468] The perception request frame is used to trigger a perception responder to execute all stages in the perception measurement process, and i is a positive integer.

[0469] In an optional design, the type of the collaborative sensing measurement is collaborative dual-base, and each group of the sensing responders includes a sensing sender and a sensing receiver; the apparatus further includes a sending module 3102, wherein the sending module 3102 is configured to:

[0470] Sending the sensing request frame to the sensing sender and the sensing receiver in the first group of sensing responders respectively;

[0471] After receiving the perception measurement report frame sent by the perception sender in the i-th group of perception responders, or sending an ACK frame to the perception sender in the i-th group of perception responders, sending the perception request frame to the perception sender and the perception receiver in the i+1-th group of perception responders respectively;

[0472] The perception request frame is used to trigger a group of perception responders to execute all stages of the perception measurement process, and i is a positive integer.

[0473] In an optional design, each of the perception responders corresponds to a perception reporting polling frame.

[0474] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base parallel mode; the apparatus further includes a sending module 3102, wherein the sending module 3102 is configured to:

[0475] After the first sensing responder sends and receives the single-base sensing measurement frame, sending the sensing reporting polling frame to the first sensing responder;

[0476] After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, sending the perception reporting polling frame to the i+1-th perception responder;

[0477] The perception reporting polling frame is used to trigger the perception responder to send the perception measurement report frame, and i is a positive integer.

[0478] In an optional design, each of the perception responders except the first one corresponds to a perception reporting polling frame.

[0479] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base parallel mode; the apparatus further includes a sending module 3102, wherein the sending module 3102 is configured to:

[0480] After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, sending the perception reporting polling frame to the i+1-th perception responder;

[0481] The perception reporting polling frame is used to trigger the perception responder to send the perception measurement report frame, and i is a positive integer.

[0482] In an optional design, the perception measurement polling frame is a type of TDD beamforming frame.

[0483] In one optional design, the MAC frame body of the TDD beamforming frame includes a TDD beamforming control field, and the TDD beamforming control field includes a TDD group beamforming field and a TDD beam measurement field.

[0484] When the value of the TDD group beam forming field is 1 and the value of the TDD beam measurement field is 1, the TDD beam forming frame is the perception measurement polling frame.

[0485] In an optional design, the perception measurement polling frame is a perception polling frame with a polling type field added to the TDD beamforming control field in the MAC frame body, and the polling type field is used to indicate that the perception polling frame with the polling type field added is the perception measurement polling frame.

[0486] In an optional design, when the value of the polling type field is 0 or 1, the perception polling frame with the polling type field added is the perception measurement polling frame.

[0487] In an optional design, the perception reporting polling frame is a perception polling frame with a polling type field added to the TDD beamforming control field in the MAC frame body, and the polling type field is used to indicate that the perception polling frame with the polling type field added is the perception reporting polling frame.

[0488] In an optional design, when the value of the polling type field is 0 or 1, the perception polling frame with the polling type field added is the perception reporting polling frame.

[0489] FIG32 is a block diagram of a collaborative awareness measurement device provided by an exemplary embodiment of the present application. As shown in FIG32 , the device includes:

[0490] The execution module 3201 is configured to, during the collaborative sensing measurement process, enable each group or each device participating in the collaboration to execute all or part of the phases in the sensing measurement process according to the triggering by the sensing initiator in a polling triggering manner.

[0491] In an optional design, the polling trigger is implemented based on at least one of the following frames:

[0492] Perception request frame;

[0493] Perception measurement polling frame;

[0494] Perception reporting polling frame;

[0495] Among them, the perception request frame is used to trigger the device to execute all stages in the perception measurement process, the perception measurement polling frame is used to trigger the device to execute the perception measurement stage and reporting stage in the perception measurement process, and the perception reporting polling frame is used to trigger the device to execute the reporting stage in the perception measurement process.

[0496] In an optional design, each group or each of the devices corresponds to one perception measurement polling frame.

[0497] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base sequential mode; the apparatus further includes a receiving module 3202, wherein the receiving module 3202 is configured to:

[0498] After the perception initiator receives the perception response frames sent by all the devices, the first device receives the perception measurement polling frame sent by the perception initiator;

[0499] After the perception initiator receives the perception measurement report frame sent by the i-th device, or sends an ACK frame to the i-th device, the (i+1)-th device receives the perception measurement polling frame sent by the perception initiator;

[0500] The perception measurement polling frame is used to trigger the device to send a single-base perception measurement frame, and i is a positive integer.

[0501] In an optional design, the type of the cooperative sensing measurement is cooperative dual-base, and each group of the apparatus includes a sensing sender and a sensing receiver; the apparatus further includes a receiving module 3202, wherein the receiving module 3202 is configured to:

[0502] After the perception initiator receives the perception response frames sent by all the devices, the perception senders in the first group of devices receive the perception measurement polling frames sent by the perception initiator;

[0503] After the perception initiator receives the perception measurement report frame sent by the perception sender in the i-th group of devices, or sends an ACK frame to the perception sender in the i-th group of devices, the perception sender in the (i+1)-th group of devices receives the perception measurement poll frame sent by the perception initiator;

[0504] The perception measurement polling frame is used to trigger the perception sender to send a BRP frame carrying a TRN field, and i is a positive integer.

[0505] In an optional design, each group of the devices except the first group or each of the devices except the first one corresponds to one perception measurement polling frame.

[0506] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base sequential mode; the apparatus further includes a receiving module 3202, wherein the receiving module 3202 is configured to:

[0507] After the perception initiator receives the perception measurement report frame sent by the i-th device, or sends an ACK frame to the i-th device, the (i+1)-th device receives the perception measurement polling frame sent by the perception initiator;

[0508] The perception measurement polling frame is used to trigger the device to send a single-base perception measurement frame, and i is a positive integer.

[0509] In an optional design, the type of the cooperative sensing measurement is cooperative dual-base, and each group of the apparatus includes a sensing sender and a sensing receiver; the apparatus further includes a receiving module 3202, wherein the receiving module 3202 is configured to:

[0510] After the perception initiator receives the perception measurement report frame sent by the perception sender in the i-th group of devices, or sends an ACK frame to the perception sender in the i-th group of devices, the perception sender in the (i+1)-th group of devices receives the perception measurement poll frame sent by the perception initiator;

[0511] The perception measurement polling frame is used to trigger the perception sender to send a BRP frame carrying a TRN field, and i is a positive integer.

[0512] In an optional design, each device in a group of the devices corresponds to one perception request frame, or each device corresponds to one perception request frame.

[0513] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base sequential mode; the apparatus further includes a receiving module 3202, wherein the receiving module 3202 is configured to:

[0514] The first device receives the perception request frame sent by the perception initiator;

[0515] After the perception initiator receives the perception measurement report frame sent by the i-th device, or sends an ACK frame to the i-th device, the (i+1)-th device receives the perception request frame sent by the perception initiator;

[0516] The perception request frame is used to trigger the device to execute all stages of the perception measurement process, and i is a positive integer.

[0517] In an optional design, the type of the cooperative sensing measurement is cooperative dual-base, and each group of the apparatus includes a sensing sender and a sensing receiver; the apparatus further includes a receiving module 3202, wherein the receiving module 3202 is configured to:

[0518] The perception senders and the perception receivers in the first group of devices respectively receive the perception request frame sent by the perception initiator;

[0519] After the perception initiator receives the perception measurement report frame sent by the perception sender in the i-th group of devices, or sends an ACK frame to the perception sender in the i-th group of devices, the perception senders and the perception receivers in the (i+1)-th group of devices respectively receive the perception request frame sent by the perception initiator;

[0520] The perception request frame is used to trigger a group of the devices to execute all stages in the perception measurement process, and i is a positive integer.

[0521] In an optional design, each of the devices corresponds to a perception reporting polling frame.

[0522] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base parallel mode; the apparatus further includes a receiving module 3202, wherein the receiving module 3202 is configured to:

[0523] After the first device sends and receives the single-base sensing measurement frame, the first device receives the sensing reporting polling frame sent by the sensing initiator;

[0524] After the perception initiator receives the perception measurement report frame sent by the i-th device, or sends an ACK frame to the i-th device, the (i+1)-th device receives the perception reporting polling frame sent by the perception initiator;

[0525] The perception reporting polling frame is used to trigger the device to send the perception measurement report frame, and i is a positive integer.

[0526] In an optional design, each of the devices except the first one corresponds to a perception reporting polling frame.

[0527] In an optional design, the type of the cooperative sensing measurement is a cooperative single-base parallel mode; the apparatus further includes a receiving module 3202, wherein the receiving module 3202 is configured to:

[0528] After the perception initiator receives the perception measurement report frame sent by the i-th device, or sends an ACK frame to the i-th device, the (i+1)-th device receives the perception reporting polling frame sent by the perception initiator;

[0529] The perception reporting polling frame is used to trigger the device to send the perception measurement report frame, and i is a positive integer.

[0530] In an optional design, the perception measurement polling frame is a type of TDD beamforming frame.

[0531] In one optional design, the MAC frame body of the TDD beamforming frame includes a TDD beamforming control field, and the TDD beamforming control field includes a TDD group beamforming field and a TDD beam measurement field.

[0532] When the value of the TDD group beam forming field is 1 and the value of the TDD beam measurement field is 1, the TDD beam forming frame is the perception measurement polling frame.

[0533] In an optional design, the perception measurement polling frame is a perception polling frame with a polling type field added to the TDD beamforming control field in the MAC frame body, and the polling type field is used to indicate that the perception polling frame with the polling type field added is the perception measurement polling frame.

[0534] In an optional design, when the value of the polling type field is 0 or 1, the perception polling frame with the polling type field added is the perception measurement polling frame.

[0535] In an optional design, the perception reporting polling frame is a perception polling frame with a polling type field added to the TDD beamforming control field in the MAC frame body, and the polling type field is used to indicate that the perception polling frame with the polling type field added is the perception reporting polling frame.

[0536] In an optional design, when the value of the polling type field is 0 or 1, the perception polling frame with the polling type field added is the perception reporting polling frame.

[0537] It should be noted that the device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example to implement its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0538] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0539] Figure 33 is a structural diagram of a perception measurement device (perception initiator and / or perception responder) provided by an exemplary embodiment of the present application. The perception measurement device 3300 includes: a processor 3301, a receiver 3302, a transmitter 3303, a memory 3304 and a bus 3305.

[0540] The processor 3301 includes one or more processing cores. The processor 3301 executes various functional applications and information processing by running software programs and modules.

[0541] The receiver 3302 and the transmitter 3303 may be implemented as a communication component, which may be a communication chip.

[0542] The memory 3304 is connected to the processor 3301 via a bus 3305. The memory 3304 may be used to store at least one instruction, and the processor 3301 may be used to execute the at least one instruction to implement each step in the above method embodiment.

[0543] In addition, the memory 3304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Static Random-Access Memory (SRAM), Read-Only Memory (ROM), magnetic memory, flash memory, and Programmable Read-Only Memory (PROM).

[0544] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. The computer program is used to be executed by a perception measurement device to implement the collaborative perception measurement method of the above-mentioned perception measurement device (perception initiator and / or perception responder).

[0545] Optionally, the computer-readable storage medium may include: Read-Only Memory (ROM), Random-Access Memory (RAM), Solid State Drives (SSD), or an optical disk, etc. Among them, the random access memory may include Resistance Random Access Memory (ReRAM) and Dynamic Random Access Memory (DRAM).

[0546] An embodiment of the present application further provides a chip, which includes a programmable logic circuit and / or program instructions. When a perception measurement device equipped with the chip is running, the chip is used to implement the collaborative perception measurement method of the perception measurement device.

[0547] An embodiment of the present application also provides a computer program product or computer program, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The perception measurement device reads and executes the computer instructions from the computer-readable storage medium to implement the collaborative perception measurement method of the above-mentioned perception measurement device.

[0548] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present 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 computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0549] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A collaborative sensing measurement method, characterized in that: The method is performed by a perception initiator, and includes: During the collaborative sensing measurement process, the sensing initiator triggers each group or each sensing responder participating in the collaboration to execute all or part of the phases in the sensing measurement process in a polling triggering manner.

2. The method according to claim 1, characterized in that The polling trigger is implemented based on at least one of the following frames: Perception request frame; Perception measurement polling frame; Perception reporting polling frame; Among them, the perception request frame is used to trigger the perception responder to perform all stages in the perception measurement process, the perception measurement polling frame is used to trigger the perception responder to perform the perception measurement stage and the reporting stage in the perception measurement process, and the perception reporting polling frame is used to trigger the perception responder to perform the reporting stage in the perception measurement process.

3. The method according to claim 2, characterized in that Each group or each of the sensing responders corresponds to one sensing measurement polling frame.

4. The method according to claim 3, characterized in that The type of the cooperative sensing measurement is a sequential mode of cooperative single base; The perception initiator uses a polling triggering method to trigger each perception responder participating in the collaboration to perform some stages in the perception measurement process, including: After receiving the sensing response frames sent by all the sensing responders, sending the sensing measurement polling frame to the first sensing responder; After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, sending the perception measurement polling frame to the i+1-th perception responder; The perception measurement polling frame is used to trigger the perception responder to send a single-base perception measurement frame, and i is a positive integer.

5. The method according to claim 3, characterized in that The type of the collaborative sensing measurement is collaborative dual-base, and each group of sensing responders includes a sensing sender and a sensing receiver; The perception initiator triggers each group of collaborative perception responders to perform some stages of the perception measurement process using a polling triggering method, including: After receiving the sensing response frames sent by all the sensing responders, sending the sensing measurement polling frame to the sensing senders in the first group of sensing responders; After receiving the perception measurement report frame sent by the perception sender in the i-th group of perception responders, or sending an ACK frame to the perception sender in the i-th group of perception responders, sending the perception measurement poll frame to the perception sender in the i+1-th group of perception responders; The perception measurement polling frame is used to trigger the perception sender to send a beam optimization protocol BRP frame carrying a training TRN field, and i is a positive integer.

6. The method according to claim 2, characterized in that Each group of the sensing responders except the first group or each sensing responder except the first one corresponds to one sensing measurement polling frame.

7. The method according to claim 6, characterized in that The type of the cooperative sensing measurement is a sequential mode of cooperative single base; The perception initiator uses a polling triggering method to trigger each perception responder participating in the collaboration to perform some stages in the perception measurement process, including: After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, sending the perception measurement polling frame to the (i+1)-th perception responder; The perception measurement polling frame is used to trigger the perception responder to send a single-base perception measurement frame, and i is a positive integer.

8. The method according to claim 6, characterized in that The type of the collaborative sensing measurement is collaborative dual-base, and each group of sensing responders includes a sensing sender and a sensing receiver; The perception initiator triggers each group of collaborative perception responders to perform some stages of the perception measurement process using a polling triggering method, including: After receiving the perception measurement report frame sent by the perception sender in the i-th group of perception responders, or sending an ACK frame to the perception sender in the i-th group of perception responders, sending the perception measurement poll frame to the perception sender in the i+1-th group of perception responders; The perception measurement polling frame is used to trigger the perception sender to send a BRP frame carrying a TRN field, and i is a positive integer.

9. The method according to claim 2, characterized in that Each of the sensing responders in a group of the sensing responders corresponds to one sensing request frame, or each of the sensing responders corresponds to one sensing request frame.

10. The method according to claim 9, characterized in that The type of the cooperative sensing measurement is a sequential mode of cooperative single base; The perception initiator uses a polling triggering method to trigger each perception responder participating in the collaboration to perform all stages of the perception measurement process, including: Sending the sensing request frame to the first sensing responder; After receiving the sensing measurement report frame sent by the i-th sensing responder, or sending an ACK frame to the i-th sensing responder, sending the sensing request frame to the (i+1)-th sensing responder; The perception request frame is used to trigger a perception responder to execute all stages in the perception measurement process, and i is a positive integer.

11. The method according to claim 9, characterized in that The type of the collaborative sensing measurement is collaborative dual-base, and each group of sensing responders includes a sensing sender and a sensing receiver; The perception initiator uses a polling triggering method to trigger each group of collaborative perception responders to perform all stages of the perception measurement process, including: Sending the sensing request frame to the sensing sender and the sensing receiver in the first group of sensing responders respectively; After receiving the perception measurement report frame sent by the perception sender in the i-th group of perception responders, or sending an ACK frame to the perception sender in the i-th group of perception responders, sending the perception request frame to the perception sender and the perception receiver in the i+1-th group of perception responders respectively; The perception request frame is used to trigger a group of perception responders to execute all stages of the perception measurement process, and i is a positive integer.

12. The method according to claim 2, characterized in that Each of the perception responders corresponds to a perception reporting polling frame.

13. The method according to claim 12, characterized in that The type of the collaborative sensing measurement is a collaborative single-base parallel mode; The perception initiator uses a polling triggering method to trigger each perception responder participating in the collaboration to perform some stages in the perception measurement process, including: After the first sensing responder sends and receives the single-base sensing measurement frame, sending the sensing reporting polling frame to the first sensing responder; After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, sending the perception reporting polling frame to the i+1-th perception responder; The perception reporting polling frame is used to trigger the perception responder to send the perception measurement report frame, and i is a positive integer.

14. The method according to claim 2, characterized in that Each of the perception responders except the first one corresponds to one perception reporting polling frame.

15. The method according to claim 14, characterized in that The type of the collaborative sensing measurement is a collaborative single-base parallel mode; The perception initiator uses a polling triggering method to trigger each perception responder participating in the collaboration to perform some stages in the perception measurement process, including: After receiving the perception measurement report frame sent by the i-th perception responder, or sending an ACK frame to the i-th perception responder, sending the perception reporting polling frame to the i+1-th perception responder; The perception reporting polling frame is used to trigger the perception responder to send the perception measurement report frame, and i is a positive integer.

16. The method according to any one of claims 2 to 15, characterized in that: The perception measurement polling frame is a type of time division duplex (TDD) beamforming frame.

17. The method according to claim 16, characterized in that The media access control MAC frame body of the TDD beamforming frame includes a TDD beamforming control field, and the TDD beamforming control field includes a TDD group beamforming field and a TDD beam measurement field; When the value of the TDD group beamforming field is 1 and the value of the TDD beam measurement field is 1, the TDD beamforming frame is the perception measurement polling frame.

18. The method according to any one of claims 2 to 15, characterized in that: The perception measurement polling frame is a perception polling frame with a polling type field added to the TDD beamforming control field in the MAC frame body, and the polling type field is used to indicate that the perception polling frame with the polling type field added is the perception measurement polling frame.

19. The method according to claim 18, characterized in that When the value of the polling type field is 0 or 1, the perception polling frame with the polling type field added is the perception measurement polling frame.

20. The method according to any one of claims 2 to 15, characterized in that The perception reporting polling frame is a perception polling frame with a polling type field added to the TDD beamforming control field in the MAC frame body, and the polling type field is used to indicate that the perception polling frame with the polling type field added is the perception reporting polling frame.

21. The method according to claim 20, characterized in that When the value of the polling type field is 0 or 1, the perception polling frame with the polling type field added is the perception reporting polling frame.

22. A collaborative sensing measurement method, characterized in that: The method is performed by a sensory responder, and includes: During the collaborative sensing measurement process, each group or each of the sensing responders participating in the collaboration executes all or part of the phases in the sensing measurement process according to the triggering by the sensing initiator in a polling triggering manner.

23. The method according to claim 22, characterized in that The polling trigger is implemented based on at least one of the following frames: Perception request frame; Perception measurement polling frame; Perception reporting polling frame; Among them, the perception request frame is used to trigger the perception responder to perform all stages in the perception measurement process, the perception measurement polling frame is used to trigger the perception responder to perform the perception measurement stage and the reporting stage in the perception measurement process, and the perception reporting polling frame is used to trigger the perception responder to perform the reporting stage in the perception measurement process.

24. The method according to claim 23, wherein Each group or each of the sensing responders corresponds to one sensing measurement polling frame.

25. The method according to claim 24, characterized in that The type of the cooperative sensing measurement is a sequential mode of cooperative single base; Each of the sensing responders participating in the collaboration executes part of the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner, including: After the sensing initiator receives the sensing response frames sent by all the sensing responders, the first sensing responder receives the sensing measurement polling frame sent by the sensing initiator; After the sensing initiator receives the sensing measurement report frame sent by the i-th sensing responder, or sends an ACK frame to the i-th sensing responder, the (i+1)-th sensing responder receives the sensing measurement polling frame sent by the sensing initiator; The perception measurement polling frame is used to trigger the perception responder to send a single-base perception measurement frame, and i is a positive integer.

26. The method according to claim 25, characterized in that The type of the collaborative sensing measurement is collaborative dual-base, and each group of sensing responders includes a sensing sender and a sensing receiver; Each group of the sensing responders participating in the collaboration executes some stages of the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner, including: After the sensing initiator receives the sensing response frames sent by all the sensing responders, the sensing senders in the first group of sensing responders receive the sensing measurement polling frame sent by the sensing initiator; After the sensing initiator receives the sensing measurement report frame sent by the sensing sender in the i-th group of sensing responders, or sends an ACK frame to the sensing sender in the i-th group of sensing responders, the sensing sender in the (i+1)-th group of sensing responders receives the sensing measurement poll frame sent by the sensing initiator; The perception measurement polling frame is used to trigger the perception sender to send a BRP frame carrying a TRN field, and i is a positive integer.

27. The method according to claim 23, characterized in that Each group of the sensing responders except the first group or each sensing responder except the first one corresponds to one sensing measurement polling frame.

28. The method according to claim 27, characterized in that The type of the cooperative sensing measurement is a sequential mode of cooperative single base; Each of the sensing responders participating in the collaboration executes part of the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner, including: After the sensing initiator receives the sensing measurement report frame sent by the i-th sensing responder, or sends an ACK frame to the i-th sensing responder, the (i+1)-th sensing responder receives the sensing measurement polling frame sent by the sensing initiator; The perception measurement polling frame is used to trigger the perception responder to send a single-base perception measurement frame, and i is a positive integer.

29. The method according to claim 27, characterized in that The type of the collaborative sensing measurement is collaborative dual-base, and each group of sensing responders includes a sensing sender and a sensing receiver; Each group of the sensing responders participating in the collaboration executes some stages of the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner, including: After the sensing initiator receives the sensing measurement report frame sent by the sensing sender in the i-th group of sensing responders, or sends an ACK frame to the sensing sender in the i-th group of sensing responders, the sensing sender in the (i+1)-th group of sensing responders receives the sensing measurement poll frame sent by the sensing initiator; The perception measurement polling frame is used to trigger the perception sender to send a BRP frame carrying a TRN field, and i is a positive integer.

30. The method according to claim 23, wherein Each of the sensing responders in a group of the sensing responders corresponds to one sensing request frame, or each of the sensing responders corresponds to one sensing request frame.

31. The method according to claim 30, wherein The type of the cooperative sensing measurement is a sequential mode of cooperative single base; Each of the sensing responders participating in the collaboration executes all stages of the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner, including: The first sensing responder receives the sensing request frame sent by the sensing initiator; After the sensing initiator receives the sensing measurement report frame sent by the i-th sensing responder, or sends an ACK frame to the i-th sensing responder, the (i+1)-th sensing responder receives the sensing request frame sent by the sensing initiator; The perception request frame is used to trigger a perception responder to execute all stages in the perception measurement process, and i is a positive integer.

32. The method according to claim 30, wherein The type of the collaborative sensing measurement is collaborative dual-base, and each group of sensing responders includes a sensing sender and a sensing receiver; Each group of the sensing responders participating in the collaboration executes all stages of the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner, including: The sensing sender and the sensing receiver in the first group of sensing responders respectively receive the sensing request frame sent by the sensing initiator; After the sensing initiator receives the sensing measurement report frame sent by the sensing sender in the i-th group of sensing responders, or sends an ACK frame to the sensing sender in the i-th group of sensing responders, the sensing sender and the sensing receiver in the (i+1)-th group of sensing responders respectively receive the sensing request frame sent by the sensing initiator; The perception request frame is used to trigger a group of perception responders to execute all stages of the perception measurement process, and i is a positive integer.

33. The method according to claim 23, wherein Each of the perception responders corresponds to a perception reporting polling frame.

34. The method according to claim 33, wherein The type of the collaborative sensing measurement is a collaborative single-base parallel mode; Each of the sensing responders participating in the collaboration executes part of the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner, including: After the first sensing responder sends and receives the single-base sensing measurement frame, the first sensing responder receives the sensing reporting polling frame sent by the sensing initiator; After the perception initiator receives the perception measurement report frame sent by the i-th perception responder, or sends an ACK frame to the i-th perception responder, the (i+1)-th perception responder receives the perception reporting polling frame sent by the perception initiator; The perception reporting polling frame is used to trigger the perception responder to send the perception measurement report frame, and i is a positive integer.

35. The method according to claim 23, wherein Each of the perception responders except the first one corresponds to one perception reporting polling frame.

36. The method according to claim 35, characterized in that The type of the collaborative sensing measurement is a collaborative single-base parallel mode; Each of the sensing responders participating in the collaboration executes part of the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner, including: After the perception initiator receives the perception measurement report frame sent by the i-th perception responder, or sends an ACK frame to the i-th perception responder, the (i+1)-th perception responder receives the perception reporting polling frame sent by the perception initiator; The perception reporting polling frame is used to trigger the perception responder to send the perception measurement report frame, and i is a positive integer.

37. The method according to any one of claims 23 to 36, characterized in that The perception measurement polling frame is a type of TDD beamforming frame.

38. The method according to claim 37, wherein The MAC frame body of the TDD beamforming frame includes a TDD beamforming control field, and the TDD beamforming control field includes a TDD group beamforming field and a TDD beam measurement field; When the value of the TDD group beamforming field is 1 and the value of the TDD beam measurement field is 1, the TDD beamforming frame is the perception measurement polling frame.

39. The method according to any one of claims 23 to 36, characterized in that The perception measurement polling frame is a perception polling frame with a polling type field added to the TDD beamforming control field in the MAC frame body, and the polling type field is used to indicate that the perception polling frame with the polling type field added is the perception measurement polling frame.

40. The method according to claim 39, wherein When the value of the polling type field is 0 or 1, the perception polling frame with the polling type field added is the perception measurement polling frame.

41. The method according to any one of claims 23 to 36, characterized in that The perception reporting polling frame is a perception polling frame with a polling type field added to the TDD beamforming control field in the MAC frame body, and the polling type field is used to indicate that the perception polling frame with the polling type field added is the perception reporting polling frame.

42. The method according to claim 41, wherein When the value of the polling type field is 0 or 1, the perception polling frame with the polling type field added is the perception reporting polling frame.

43. A collaborative sensing measurement device, characterized in that: The device comprises: The trigger module is used to trigger each group or each perception responder participating in the collaboration to execute all or part of the phases in the perception measurement process in a polling triggering manner during the collaborative perception measurement process.

44. A collaborative sensing measurement device, characterized in that The device comprises: The execution module is used to, during the collaborative sensing measurement process, enable each group or each device participating in the collaboration to execute all or part of the stages in the sensing measurement process according to the triggering of the sensing initiator in a polling triggering manner.

45. A perception initiating device, characterized in that The device comprises: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load the executable instructions so that the perception initiating device implements the collaborative perception measurement method according to any one of claims 1 to 21.

46. ​​A sensory response device, characterized in that The device comprises: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load the executable instructions so that the perception response device implements the collaborative perception measurement method according to any one of claims 22 to 42.

47. A computer-readable storage medium, characterized in that The readable storage medium stores a computer program, and the computer program is used to be executed by the perception measurement device to implement the collaborative perception measurement method according to any one of claims 1 to 42.

48. A chip, characterized in that The chip includes a programmable logic circuit and / or program instructions, and when a perception measurement device equipped with the chip is running, it is used to implement the collaborative perception measurement method described in any one of claims 1 to 42.

49. A computer program product or a computer program, characterized in that The computer program product or computer program includes computer instructions, which are stored in a computer-readable storage medium. The perception measurement device reads and executes the computer instructions from the computer-readable storage medium to implement the collaborative perception measurement method described in any one of claims 1 to 42.

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