Method, electronic device, system, medium and program product for perception

Abstract

Embodiments of the present disclosure provide a method for perception. In the method, a first device receives importance information of one or more perceptual targets from a second device. Based on the importance information, the first device determines priority information for one or more perceptual targets in perceptual scheduling. The method also includes the first device transmitting scheduling information to at least one of the third device or the fourth device. The scheduling information comprises first scheduling information or second scheduling information. The first scheduling information is used for scheduling a third device to transmit a sensing signal for sensing the one or more sensing targets, and the second scheduling information is used for scheduling a fourth device to receive the sensing signal. In this way, when a perception process needs to be executed in a communication network supporting communication perception integration, perception priorities for different perception targets can be controlled and scheduled according to the importance of perception.

Description

Technical Field

[0001] The present disclosure relates generally to the fields of communication and perception, and more particularly to a method for perception, an electronic device, a communication system, a computer-readable storage medium, and a computer program product. Background Art

[0002] Communication technology and perception technology are two important aspects in the field of electronic information, supporting a wide range of applications, such as mobile communications, autonomous driving, smart cities, etc. At present, the complexity of these application scenarios is constantly increasing, and traditional communication and perception technologies have gradually become difficult to meet the needs. With the development of technology, Integrated Sensing and Communication (ISAC) technology has been proposed as one of the main visions of the next generation of communication networks. Integrated Sensing and Communication refers to the integration of communication capabilities and perception capabilities in one or more dimensions such as devices and waveforms in network equipment or terminal equipment. For example, a base station transmits a signal to a terminal, and the signal contains information about communication with the terminal. In addition, the base station can further detect the echo of the signal, perceive the terminal or other targets, and obtain one or more characteristics of the target, such as the position, speed, shape, and posture.

[0003] Communication and perception integration technology has broad application prospects. For example, it can be applied to new application scenarios such as supporting drone swarms, autonomous driving, and smart cities, providing new opportunities for the development of modern information and communication technology. However, in communication and perception integration, how to schedule resources for the perception process and how to optimize the perception process based on the perception results can be further considered. Summary of the invention

[0004] The present application provides a method for sensing, an electronic device, a communication system, a computer-readable storage medium, and a computer program product.

[0005] In the first aspect of the present disclosure, a method is provided. The execution subject of the method may be a network device, a terminal device, or a core network device, or a chip applied to a network device, a terminal device, or a core network device, or a logic module or software that can realize all or part of the functions of a network device, a terminal device, or a core network device. The following description is taken as an example in which the execution subject is a first device. In the method, the first device receives importance information of one or more perception targets from the second device. Based on the importance information, the first device determines the priority information of one or more perception targets in the perception scheduling. The method also includes that the first device sends scheduling information to at least one of the third device or the fourth device. The scheduling information includes first scheduling information or second scheduling information. The first scheduling information is used to schedule the third device to send a perception signal for perceiving the one or more perception targets, and the second scheduling information is used to schedule the fourth device to receive the perception signal. In this way, when it is necessary to perform a perception process in a communication network that supports communication perception integration, the perception priority of different perception targets can be controlled according to the importance of perception.

[0006] In some implementations, the method further includes: the first device sends at least one reception quality threshold for one or more perception targets to the fourth device, so that the fourth device determines whether to feed back power control information associated with the one or more perception targets to the first device. The power control information is determined based on the at least one reception quality threshold. In this way, the first device can obtain channel information between the perception transmitting device and the perception receiving device, so that the transmission and reception of the perception signal can be further optimized.

[0007] In some implementations, at least one reception quality threshold is the same for one or more perception targets. In this way, the quality threshold for the perception reception can be uniformly set.

[0008] In some implementations, the one or more perception targets include a first perception target and a second perception target, and the importance information indicates that the importance of the second perception target is higher than that of the first perception target. In addition, at least one reception quality threshold includes a first reception quality threshold for the first perception target and a second reception quality threshold for the second perception target, and the second reception quality threshold is higher than the first reception quality threshold. In this way, since the reception quality of the perception signal is related to the perception accuracy, a higher reception quality can obtain a higher perception accuracy. Therefore, by setting a higher reception quality threshold for an important target, the accuracy of the perception result of the target can be improved.

[0009] In some implementations, determining the priority information includes determining the priority of one or more perception targets in the perception scheduling based on the importance information. In addition, the above scheduling information is determined based on the priority sorting; and / or at least one reception quality threshold for one or more perception targets is determined based on the priority sorting. In this way, the perception order of each perception target can be determined according to the business requirements, thereby meeting the urgency and importance requirements of the business perception targets.

[0010] In some implementations, the first device is a perception scheduler device or a first network device configured to perform perception scheduling; the second device is a perception management device or a positioning server configured to perform perception management; the third device is a second network device or a first terminal device; or the fourth device is a third network device or a second terminal device. In this way, devices related to the perception process can be flexibly configured at multiple entities of the communication system.

[0011] In some implementations, sending the scheduling information includes: sending the first scheduling information to the third device; and sending the second scheduling information to the fourth device. In some implementations, the first device and the third device are the same network device or the same terminal device; or the first device and the fourth device are the same network device or the same terminal device. In some implementations, the first device and the third device are the same network or the same terminal device, and sending the above scheduling information includes sending the second scheduling information to the fourth device. In some implementations, the first device and the fourth device are the same device, and sending the above scheduling information includes sending the first scheduling information to the third device. In this way, when the configurations of the first device, the second device, and the third device are different, the transmission source and destination of the scheduling information are adjusted accordingly.

[0012] In some implementations, the method further includes the first device receiving at least one of the following from the second device: a first identifier of a perception target, which may be at least one of the one or more perception targets; a predicted location of the perception target; or a start time and a valid time period corresponding to the predicted location. In this way, the first device can obtain additional information that is helpful for perceiving the perception target.

[0013] In some implementations, the first scheduling information includes at least one of the following: a second identifier of the sensing target; a transmit beamforming for the sensing target, the transmit beamforming being determined based on the predicted position; a transmit time-frequency resource for the sensing target, the time-frequency resource being determined based on a start time and a valid time period; or a first transmit power of the sensing signal. In this way, the first device can more accurately schedule the transmission of the sensing signal based on the information related to the predicted position of the sensing target.

[0014] In some implementations, the second scheduling information includes at least one of the following: the second identifier of the sensing target; a receiving beamforming for the sensing target, the receiving beamforming being determined based on the predicted position; or a receiving time-frequency resource for the sensing target, the receiving time-frequency resource being determined based on a start time and a valid time period. In this way, the first device can more accurately schedule the reception of the sensing signal based on the information related to the predicted position of the sensing target.

[0015] In some implementations, the importance information is received by receiving perception indication information from the first device, and the perception indication information includes at least one of the following: the third identifier of the perception target; the importance information associated with the perception target; the perception reception quality threshold for the perception target; the first device identifier associated with the transmission of the perception signal; the second device identifier associated with the reception of the perception signal; the predicted position of the perception target; the start time for the perception target; or the effective time period for the perception target. In this way, relevant information of the perception target, including the importance information, etc., can be simply indicated by constructing a standard information structure for target perception.

[0016] In some implementations, the first scheduling information and the second scheduling information are determined based on the perception indication information, and sending the scheduling information includes at least one of the following: sending the first scheduling information to a third device having a first device identifier; or sending the second scheduling information to a fourth device having a second device identifier. In this way, the perception signal transmission configuration and the perception signal reception configuration can be flexibly indicated.

[0017] In some implementations, at least one of the first scheduling information or the second scheduling information includes at least one of the following: perception indication information; the third identifier of the perception target; or a reception quality threshold for the perception target. In this way, based on the perception indication information with a standard structure, the sending and receiving of the perception signal can be directly scheduled.

[0018] In some implementations, the method further includes receiving, from the fourth device, first perception information for a first perception target among the one or more perception targets. In this way, the first device can receive a perception / measurement result for a perception target from the perception receiving device.

[0019] In some implementations, the first perception information includes: the second identifier or the third identifier of the first perception target; an ACK; information related to at least one of a position and a speed of the first perception target; and a perception timestamp. In this way, the first device can obtain a perception / measurement result that meets the reception quality.

[0020] In some implementations, the first perception information includes: a second identifier or a third identifier of the first perception target; a negative acknowledgement NACK; and power control information. In this way, the perception signal receiving device can notify the first device of the perception target that does not meet the reception quality requirement, so that the first device reschedules the perception process for the perception target based at least on the power control information.

[0021] In some implementations, the method further includes: the first device sends additional scheduling information to at least one of the third device or the fourth device based on the first perception information, and the additional scheduling information includes additional first scheduling information or additional second scheduling information. In addition, the additional first scheduling information includes a second transmission power determined based on the power control information. In this way, the first device can reschedule the re-perception process for the perception target that was not successfully perceived based on the power control information fed back from the perception signal receiving device.

[0022] In some implementations, sending the additional scheduling information includes: determining whether a valid time period associated with the first perception target has expired; and based on the time period associated with the first perception target not having expired, sending the additional scheduling information. In this way, the first device can accurately configure resources for re-perceiving.

[0023] In some implementations, the method further includes: when the first perception information includes ACK, sending second perception information for one or more perception targets to the second device, so that the second device can determine the perception results of the one or more perception targets. In some implementations, the second perception information includes: the first identifier or the third identifier of the perception target; and information related to at least one of the position and speed of the perception target. In this way, the first device can send the perception / measurement results for one or more perception targets to the second device configured to perform perception management, so that the second device can determine the position, posture, speed, direction of movement, etc. of the one or more perception targets.

[0024] In the second aspect of the present disclosure, a method is provided. The execution subject of the method may be a network device or a core network device, or a chip applied to a network device or a core network device, or a logic module or software that can realize all or part of the functions of the network device or the core network device. The following description is taken as an example in which the execution subject is a second device. In the method, the second device determines the importance information of one or more perception targets, and the importance information is used to determine the priority information of the above-mentioned one or more perception targets in the perception scheduling. The method also includes: the second device sends the importance information to the first device. In this way, when it is necessary to perform a perception process in a communication network that supports the integration of communication and perception, the scheduling of perception priorities for different perception targets can be controlled according to the importance of perception.

[0025] In some implementations, the method further includes sending at least one of the following to the first device: a first identifier of a sensing target, which may be at least one of the one or more sensing targets; a predicted location of the sensing target; or a start time and a valid time period corresponding to the predicted location. In this way, the second device can send additional information that helps to sense the sensing target to the first device.

[0026] In some implementations, the importance information is sent by sending perception indication information to the first device, and the perception indication information includes at least one of the following: the third identifier of the perception target; the importance information associated with the perception target; the perception reception quality threshold for the perception target; the first device identifier associated with the transmission of the perception signal; the second device identifier associated with the reception of the perception signal; the predicted position of the perception target; the start time for the perception target; or the effective time period for the perception target. In this way, the perception target and the importance information can be simply indicated by constructing a standard information structure for target perception.

[0027] In some implementations, the method further includes: the second device receives second perception information from the first device; and based on the second perception information, the second device determines the perception results of the one or more perception targets. In some implementations, the first identifier or the third identifier of the perception target; and information related to at least one of the position and speed of the perception target. In this way, the second device can obtain the perception / measurement results for one or more perception targets based on the above-mentioned importance information, thereby determining the position, posture, speed, movement direction, etc. of the one or more perception targets.

[0028] In some implementations, the first device is a scheduler device or a first network device configured to perform perception scheduling; or the second device is a perception management device or a positioning server configured to perform perception management. In some implementations, the first device and the third device are the same network device or the same terminal device, and the third device is configured to send a perception signal for perceiving the one or more perception targets; or the first device and the fourth device are the same network device or the same terminal device, and the fourth device is configured to receive the perception signal. In this way, the devices related to the perception process can be flexibly configured at multiple entities of the communication system.

[0029] In the third aspect of the present disclosure, a method is provided. The execution subject of the method may be a network device or a terminal device, or a chip applied to a network device or a terminal device, or a logic module or software that can realize all or part of the functions of a network device or a terminal device. The following description is taken as an example in which the execution subject is a third device. In the method, the third device obtains first scheduling information, and the first scheduling information schedules the third device to send a perception signal for perceiving one or more perception targets. The priority information of the one or more perception targets in the perception scheduling is determined by the second device (for example, a perception management device) based on the importance information of the one or more perception targets. The method also includes the third device sending the perception signal to the one or more perception targets based on the first scheduling information. In this way, when it is necessary to perform a perception process in a communication network that supports communication perception integration, the scheduling of perception priorities for different perception targets can be controlled according to the importance of perception.

[0030] In some implementations, obtaining the first scheduling information includes receiving the first scheduling information from a first device. In this way, the first scheduling information can be flexibly indicated by other devices with resource scheduling capabilities.

[0031] In some implementations, the first device is a scheduler device or a first network device configured to perform perception scheduling; or the third device is a second network device or a first terminal device. In some implementations, the first device and the third device are the same network device or the same terminal device; or the first device and the fourth device are the same network device or the same terminal device, and the fourth device is configured to receive a perception signal for perceiving the one or more perception targets. In this way, the devices related to the perception process can be flexibly configured at multiple entities of the communication system.

[0032] In some implementations, the first scheduling information includes at least one of the following: a second identifier of the sensing target; a transmit beamforming for the sensing target, the transmit beamforming being determined based on the predicted position of the sensing target; a transmit time-frequency resource for the sensing target, the time-frequency resource being determined based on a start time and a valid time period for the sensing target; or a first transmit power of the sensing signal. In this way, the first device can more accurately schedule the transmission of the sensing signal based on the information related to the predicted position of the sensing target.

[0033] In some implementations, the first scheduling information is determined based on the perception indication information, and the perception indication information includes at least one of the following: a third identifier of the perception target; importance information associated with the perception target; a perception reception quality threshold for the perception target; a first device identifier associated with the transmission of a perception signal; a second device identifier associated with the reception of a perception signal; a predicted position of the perception target; a start time for the perception target; or a valid time period for the perception target. In this way, the perception target and importance information can be simply indicated by constructing a standard information structure for target perception.

[0034] In some implementations, the first scheduling information includes at least one of the following: perception indication information; the third identifier of the perception target; or a reception quality threshold for the perception target. In this way, based on the perception indication information with a standard structure, the sending and receiving of the perception signal can be directly scheduled.

[0035] In some implementations, the method further includes: receiving additional first scheduling information from the first device, wherein the additional first scheduling information includes a second transmission power, the second transmission power is determined based on power control information sent by a third device to the first device, the third device being configured to receive the perception signal; and sending a perception signal for perceiving the target based on the additional scheduling information. In this way, the first device can reschedule a re-perceiving process for a perception target that was not successfully perceived based on the power control information fed back from the perception signal receiving device.

[0036] In the fourth aspect of the present disclosure, a method is provided. The execution subject of the method may be a network device or a terminal device, or a chip applied to a network device or a terminal device, or a logic module or software that can realize all or part of the functions of a network device or a terminal device. The following description is taken as an example in which the execution subject is a fourth device. In the method, the fourth device obtains second scheduling information. The second scheduling information schedules the fourth device to receive a perception signal for perceiving one or more perception targets, and the priority information of one or more perception targets in the perception scheduling is determined by the second device (for example, a perception management device) based on the importance information of the above-mentioned one or more perception targets. The method also includes that the fourth device receives the perception signal based on the second scheduling information. In this way, when it is necessary to perform a perception process in a communication network that supports communication perception integration, the scheduling of perception priorities for different perception targets can be controlled according to the importance of perception.

[0037] In some implementations, obtaining the second scheduling information includes receiving the second scheduling information from the first device. In this way, the second scheduling information can be flexibly indicated by other devices with resource scheduling capabilities.

[0038] In some implementations, the first device is a scheduler device or a first network device configured to perform perception scheduling; and / or the fourth device is a third network device or a second terminal device. In some implementations, the first device and the fourth device are the same network device or the same terminal device; or the first device and the third device are the same network device or the same terminal device, and the third device is configured to send a perception signal for perceiving the one or more perception targets. In this way, the devices related to the perception process can be flexibly configured at multiple entities of the communication system.

[0039] In some implementations, the method further includes: receiving at least one reception quality threshold for one or more perception targets from the first device, so that the fourth device determines whether to feed back power control information associated with the one or more perception targets to the first device, the power control information being determined based on the at least one reception quality threshold. In this way, the first device can obtain channel information between the perception transmitting device and the perception receiving device, so that the transmission and reception of the perception signal can be further optimized.

[0040] In some implementations, the at least one reception quality threshold is the same for the one or more perception targets. In this way, the quality threshold for the perception reception can be uniformly set.

[0041] In some implementations, the one or more perception targets include a first perception target and a second perception target, and the importance information indicates that the importance of the second perception target is higher than that of the first perception target. In addition, at least one reception quality threshold includes a first reception quality threshold for the first perception target and a second reception quality threshold for the second perception target, and the second reception quality threshold is higher than the first reception quality threshold. In this way, since the reception quality of the perception signal is related to the perception accuracy, a higher reception quality can obtain a higher perception accuracy. Therefore, by setting a higher reception quality threshold for an important target, the accuracy of the perception result of the target can be improved.

[0042] In some implementations, the method further includes: determining, by a fourth device, first perception information for a first perception target among the one or more perception targets based on the received perception signal; and sending the first perception information to the first device. In this way, the first device can receive a perception / measurement result for a perception target from the perception receiving device.

[0043] In some implementations, the fourth device determines the first perception information includes: the fourth device determines whether the received signal-to-noise ratio associated with the first perception target is higher than a reception quality threshold, wherein the reception quality threshold is the same at least one reception quality threshold as described above or the first reception quality threshold for the first perception target. In some implementations, the fourth device determines the first perception information further includes, based on determining that the signal-to-noise ratio associated with the first perception target is greater than or equal to the reception quality threshold, including the following items in the first perception information: a second identifier or a third identifier of the first perception target; a positive acknowledgment ACK; information related to at least one of the position and speed of the first perception target; and a perception timestamp. In this way, the first device can obtain a perception / measurement result that meets the reception quality.

[0044] In some implementations, the fourth device determining the first perception information further includes, based on determining that the signal-to-noise ratio associated with the first perception target is less than the reception quality threshold, including the following items in the first perception information: a second identifier or a third identifier of the first perception target; a negative acknowledgement NACK; and power control information. In this way, the fourth device can notify the first device of the perception target that does not meet the reception quality requirement, so that the first device reschedules the perception process for the perception target based at least on the power control information.

[0045] In some implementations, the method further includes: the fourth device receives additional second scheduling information from the first device; and the fourth device receives a signal for sensing the first sensing target based on the additional second scheduling information. In this way, the first device can reschedule the re-sensing process for the sensing target that was not successfully sensed based on the power control information fed back from the sensing signal receiving device.

[0046] In some implementations, the second scheduling information includes at least one of the following: the second identifier of the sensing target; a receiving beamforming for the sensing target, the receiving beamforming being determined based on the predicted position of the sensing target; or a receiving time-frequency resource for the sensing target, the receiving time-frequency resource being determined based on the start time and the effective time period of the sensing target. In this way, the first device can more accurately schedule the reception of the sensing signal based on the information related to the predicted position of the sensing target.

[0047] In some implementations, the second scheduling information is determined based on the perception indication information, and the perception indication information includes at least one of the following: the third identifier of the perception target; importance information associated with the perception target; a perception reception quality threshold for the perception target; a first device identifier associated with the transmission of a perception signal; a second device identifier associated with the reception of a perception signal; a predicted position of the perception target; a start time for the perception target; or a valid time period for the perception target. In this way, the perception target and importance information can be simply indicated by constructing a standard information structure for target perception.

[0048] In some implementations, the second scheduling information includes at least one of the following: perception indication information; the third identifier of the perception target; or a reception quality threshold for the perception target. In this way, based on the perception indication information with a standard structure, the reception of the perception signal can be directly scheduled.

[0049] In a fifth aspect of the present disclosure, a device is provided, which includes a functional module or unit for executing any method of the first to fourth aspects and their implementations.

[0050] In a sixth aspect of the present disclosure, a device is provided, including a processor and a memory storing instructions, wherein when the instructions are executed by the processor, the device executes any method of the first to fourth aspects and their implementation methods.

[0051] In the seventh aspect of the present disclosure, a communication device is provided, including a processor, a memory storing instructions, and a transceiver. When the instructions are executed by the processor, the communication device executes any method of the first to fourth aspects and their implementation methods via the transceiver.

[0052] In a fifth aspect of the present disclosure, a communication system is provided. The communication system includes at least one of a first device, a second device, a third device, and a fourth device, the first device is configured to execute any method of the first aspect and its implementation, the second device is configured to execute any method of the second aspect and its implementation, the third device is configured to execute any method of the third aspect and its implementation, and the fourth device is configured to execute any method of the fourth aspect and its implementation. .

[0053] In a sixth aspect of the present disclosure, an electronic device is provided. The electronic device may be a part of a terminal device or a network device, or a chip disposed in the terminal device or the network device or a chip disposed in the part, or a logic module or software capable of implementing all or part of the functions of the terminal device or the network device or the part. In addition, the part of the electronic device may communicate with another part of the electronic device. The electronic device includes: a processor, and a memory storing instructions, wherein when the instructions are executed by the processor, the electronic device executes any method of the first aspect to the fourth aspect and its implementation.

[0054] In a seventh aspect of the present disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores instructions, which, when executed by an electronic device, cause the electronic device to execute any one of the methods of the first to fourth aspects and their implementations.

[0055] In an eighth aspect of the present disclosure, a computer program product is provided, which includes instructions, and when the instructions are executed by an electronic device, the electronic device executes any one of the methods of the first to fourth aspects and their implementations.

[0056] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Embodiments of the present disclosure may be further understood by referring to the following drawings.

[0058] Figure 1A An example communication architecture scenario is shown in which embodiments of the present disclosure may be implemented.

[0059] Figure 1B Another example communication architecture scenario is shown in which embodiments of the present disclosure may be implemented.

[0060] Figure 2 A signaling process for scheduling a sensing process for one or more sensing targets according to an embodiment of the present disclosure is shown.

[0061] Figure 3 An example of a signaling process for scheduling a sensing process for one or more sensing targets according to an embodiment of the present disclosure is shown.

[0062] Figure 4 An example of a valid time for a predicted position from a second device according to an embodiment of the present disclosure is shown.

[0063] Figure 5 An example of a signaling process for scheduling a sensing process for one or more sensing targets based on sensing indication information according to an embodiment of the present disclosure is shown.

[0064] Figure 6 An example communication architecture scenario is shown in which the first device and the third device are the same device according to an embodiment of the present disclosure.

[0065] Figure 7 An example of a signaling process for scheduling a sensing process for one or more sensing targets when a first device and a third device are the same device according to an embodiment of the present disclosure is shown.

[0066] Figure 8 An example of a signaling process for scheduling a perception process for one or more perception targets based on perception indication information when a first device and a third device are the same device according to an embodiment of the present disclosure is shown.

[0067] Fig. 9 An example communication architecture scenario is shown in which the first device and the fourth device are the same device according to an embodiment of the present disclosure.

[0068] Fig.10 An example of a signaling process for scheduling a perception process for one or more perception targets when a first device and a fourth device are the same device according to an embodiment of the present disclosure is shown.

[0069] Fig.11 An example of a signaling process for scheduling a perception process for one or more perception targets based on perception indication information when a first device and a fourth device are the same device according to an embodiment of the present disclosure is shown.

[0070] Fig.12 An example communication architecture scenario is shown in which the third apparatus and the fourth apparatus are terminal devices respectively according to an embodiment of the present disclosure.

[0071] Fig.13 A flowchart of a method implemented at a first device according to an embodiment of the present disclosure is shown.

[0072] Fig.14A flowchart of a method implemented at a second device according to an embodiment of the present disclosure is shown.

[0073] Fig.15 A flowchart of a method implemented at a third device according to an embodiment of the present disclosure is shown.

[0074] Fig.16 A flowchart of a method implemented at a fourth device according to an embodiment of the present disclosure is shown.

[0075] Fig.17 A simplified block diagram of an example device showing a possible implementation of an embodiment of the present application.

[0076] Fig.18 A simplified block diagram of another example device showing a possible implementation of an embodiment of the present application.

[0077] Fig.19 A simplified block diagram of another example device showing a possible implementation of the embodiments of the present application. DETAILED DESCRIPTION

[0078] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0079] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0080] Embodiments of the present disclosure may be implemented according to any suitable communication protocol, including but not limited to cellular communication protocols such as the fifth generation (5G) and future communication protocols (e.g., the sixth generation (6G)), wireless local area network communication protocols such as Institute of Electrical and Electronics Engineers (IEEE) 802.11, and / or any other protocol currently known or developed in the future.

[0081] The technical solutions of the embodiments of the present disclosure are applied to communication systems that follow any appropriate communication protocols, such as: universal mobile telecommunications system (UMTS), long term evolution (LTE) system, wideband code division multiple access system (WCDMA), code division multiple access 2000 system (CDMA2000), time division-synchronization code division multiple access system (TD-SCDMA), frequency division duplex (FDD) system, time division duplex (TDD), fifth generation (5G) system (for example, new radio (NR)) and future communication systems (for example, sixth generation (6G) system), etc.

[0082] For the purpose of illustration, the embodiments of the present disclosure are described below with the 5G communication system in 3GPP as the background. However, it should be understood that the embodiments of the present disclosure are not limited to the communication system, but can be applied to any communication system with similar problems, such as wireless local area network (WLAN), wired communication system, or other communication systems developed in the future.

[0083] The term "terminal" or "terminal device" used in this disclosure refers to any terminal device that can communicate with network devices or with each other by wire or wirelessly. Terminal devices may sometimes be referred to as user equipment (UE). Terminal devices may be any type of mobile terminal, fixed terminal or portable terminal. Terminal devices may be various wireless communication devices with wireless communication functions. With the rise of Internet of Things (IOT) technology, more and more devices that did not previously have communication functions, such as but not limited to household appliances, vehicles, tools and equipment, service equipment and service facilities, have begun to obtain wireless communication functions by configuring wireless communication units, so that they can access wireless communication networks and accept remote control. Such devices have wireless communication functions because they are configured with wireless communication units, and therefore also fall into the category of wireless communication devices. As an example, the terminal device may include a mobile cellular phone, a cordless phone, a mobile terminal (MT), a mobile station, a mobile device, a wireless terminal, a handheld device, a client, a subscription station, a portable subscription station, an Internet node, a communicator, a desktop computer, a laptop computer, a notebook computer, a tablet computer, a personal communication system device, a personal navigation device, a personal digital assistant (PDA), a wireless data card, a wireless modem (modulator demodulator, Modem), a positioning device, a radio broadcast receiver, an e-book device, a gaming device, an Internet of Things (IoT) device, a vehicle-mounted device, an aircraft, a virtual reality (VR) device, an augmented reality (AR) device, a wearable device (e.g., a smart watch, etc.), a terminal device in a 5G network or any terminal device in an evolved public land mobile network (PLMN), other devices that can be used for communication, or any combination thereof. The embodiments of the present disclosure are not limited to this.

[0084] The term "network node" or "network device" used in the present disclosure is an entity or node that can be used to communicate with a terminal device, for example, it can be an access network device. The access network device can be a device deployed in a wireless access network to provide wireless communication functions for mobile terminals, for example, it can be a radio access network (RAN) network device. The access network device may include various types of base stations. The base station is used to provide wireless access services for terminal devices. Specifically, each base station corresponds to a service coverage area, and the terminal device entering the area can communicate with the base station through wireless signals to receive the wireless access service provided by the base station. There may be overlaps between the service coverage areas of the base stations, and the terminal device in the overlapping area can receive wireless signals from multiple base stations, so that the terminal device can be provided with services by multiple base stations at the same time. Depending on the size of the service coverage area provided, the access network device may include a macro base station providing a macro cell, a micro base station for providing a pico cell, a micro base station for providing a micro cell, and a micro base station for providing a femto cell. In addition, the access network equipment may also include various forms of relay stations, access points, remote radio units (RRU), radioheads (RH), remote radio heads (RRH), etc. In systems using different wireless access technologies, the names of access network equipment may be different, such as evolved NodeB (eNB or eNodeB) in the long term evolution (LTE) network, NodeB (NB) in the 3G network, gNB or NR NB in ​​the 5G network, and so on. In some scenarios, the access network equipment may include a central unit (CU) and / or a distributed unit (DU). The CU and DU can be placed in different places, for example: the DU is remote and placed in an area with high traffic volume, and the CU is placed in a central computer room. Alternatively, the CU and DU can also be placed in the same computer room. The CU and DU can also be different components under one rack. For the convenience of description, in the subsequent embodiments of the present disclosure, the above-mentioned devices providing wireless communication functions for mobile terminals are collectively referred to as network devices, and the embodiments of the present disclosure are no longer specifically limited. It can be understood that all or part of the functions of the network devices in the present application can also be implemented by software functions running on hardware, or by virtualization functions instantiated on a platform (such as a cloud platform).

[0085] In the present disclosure, without any limitation, one implementation of beamforming is to implement it by setting the weights corresponding to the antenna ports and / or antenna elements of each transmitting / receiving antenna. In this case, the scheduling information in the present disclosure may include the weights corresponding to the antenna ports and / or antenna elements of each transmitting / receiving antenna.

[0086] As mentioned above, the integrated communication and perception technology has a wide range of application prospects. For example, detection / positioning in intelligent transportation and intelligent industrial scenarios is a use case that ISAC has high priority for discussion and research. There are many types of perception targets in the scenario, such as normally traveling vehicles, unmanned aerial vehicles (UAVs), abnormal vehicles, intruders, etc. Correspondingly, the requirements for perception delay and refresh rate of various types of targets may be different. Therefore, when the network has multiple targets to be perceived, the network can determine the perception priority of each target according to the latency and refresh rate requirements of the service. In addition, for important targets, when one perception is unsuccessful / the result is not ideal, it should be perceived multiple times (similar to retransmission in communication). Therefore, in the current network architecture that supports the perception integration technology, there is a need to determine the perception priority for different perception targets and to schedule the perception process accordingly. Furthermore, how to judge whether the perception is successful / ideal also needs further consideration. That is, when there are multiple targets to be perceived, the network equipment may need to determine how to sort the perception priority of each target according to business requirements. Furthermore, when the target is not detected or the perception performance is not ideal, how to achieve ideal performance for the next perception through power control.

[0087] In a cooperative communication transmission solution, the transmission priority for communication can be adjusted based on the information provided by the communication participants. For example, when there are data packets of multiple UEs to be transmitted in the cache, one scheduling algorithm is the "proportional fairness algorithm". In the proportional fairness algorithm, a scheduling principle is that the scheduler needs to comprehensively consider the spectrum efficiency of the network and the fairness between users. Considering spectrum efficiency means giving priority to scheduling UEs with good channel conditions. However, considering fairness means guaranteeing the data transmission of UEs with poor channel conditions. Therefore, the scheduler selects users based on the user's instantaneous rate and historical throughput. A higher instantaneous rate means good channel conditions, and a lower historical throughput means that the UE has transmitted less data in the previous transmission. The scheduler prioritizes scheduling UEs with smaller throughput (fairness) and UEs with better channels (spectral efficiency). Therefore, when the scheduler performs a scheduling, the information that needs to be mastered may include the channel state associated with the UE (for example, the base station can obtain it through channel estimation between each UE) and the UE throughput (for example, the base station can obtain it based on the historical communication situation with the UE).

[0088] However, in the perception process, the perceived target is not a cooperative communication target. In other words, the scheduler may not be able to directly obtain information related to the perception priority from the perceived target. For example, when scheduling perception, since the perceived target does not have information such as throughput and channel, it is difficult for the scheduling algorithm to be directly used to determine the perception scheduling priority. In addition, perception behavior usually originates from business needs, and base stations generally only have resource configuration and scheduling capabilities below the radio resource control (RRC) layer, and do not grasp business needs from higher levels. Therefore, traditional technologies cannot determine scheduling priorities based on business needs.

[0089] In addition, in communication transmission, if the communication quality is not ideal, the signal reception quality at the receiver can be improved by adjusting the signal transmission power of the sender. For example, the UE can include ACK / NACK, that is, "correct reception / incorrect reception" indication information, in the feedback information for the transmission of a data packet. Usually, "incorrect reception" is caused by a low signal-to-noise ratio SNR. Furthermore, the base station can adjust the retransmission power according to the channel response of the UE and the ACK / NACK fed back by the UE. For example, increase the power for retransmission. The information fed back by the UE does not contain power control information. Additionally or alternatively, the power offset of the retransmission compared to the initial transmission can be indicated in the scheduling information of the uplink transmission (that is, the downlink control information DCI), and an index is indicated by 2 bits, and then the power offset corresponding to the index is determined by looking up the table. However, similarly, when the base station perceives the perception target, it generally does not know the channel response between the transceivers. In this way, even if the perception effect is not ideal, the scheduling device may not be able to accurately adjust the retransmission power according to the channel response.

[0090] In view of the above discussion, an embodiment of the present disclosure proposes a perception method. In this method, a first device receives importance information of one or more perception targets from a second device. Based on the received importance information, the first device determines priority information of one or more perception targets in perception scheduling. Furthermore, based on the priority information, the first device sends scheduling information including first scheduling information or second scheduling information to at least one of a third device or a fourth device. The first scheduling information is used to schedule the third device to send a perception signal for perceiving one or more perception targets, and the second scheduling information is used to schedule the fourth device to receive the perception signal.

[0091] For ease of understanding only and without any limitation, the first device mentioned above may be a perception scheduler configured to perform perception scheduling. The second device mentioned above may be a perception management device or a positioning server configured to perform perception management. The third device mentioned above may be a network device or a terminal device configured to send a perception signal. The fourth device mentioned above may be a network device or a terminal device configured to receive a perception signal. It should be understood that the above devices are represented separately only for the sake of clarity. Alternatively, different devices in the above devices may also be the same device or integrated in the same device. In this case, the message transmission between the above devices as the same device is implemented inside the device.

[0092] In this way, when it is necessary to perform a perception process in a communication network that supports integrated communication and perception, the perception priority for different perception targets can be controlled and scheduled according to the importance of perception. For example, if the current perception service has a higher perception requirement for a specific perception target, the corresponding importance information can be set to give priority to the perception of these perception targets. In this way, the performance of the communication system can be improved. The present application will be further described in detail below in conjunction with the accompanying drawings. The specific operation method, function description, etc. in the method embodiment can also be applied to the device embodiment or the system embodiment.

[0093] Figure 1AAn example communication architecture scenario 100 in which an embodiment of the present disclosure can be implemented is shown. The perception method provided in the embodiment of the present application can be applied to the communication architecture scenario 100. In the communication architecture scenario 100, a first device 110 is shown. In the present disclosure, the first device 110 may be a scheduler for performing scheduling in the perception process, or the first device 110 is configured with a logical function of performing scheduling in the perception process. In some examples, the first device 110 may be a network device (or integrated in a network device), such as an eNB or a gNB, etc. Alternatively, the first device 110 may also be a terminal device (or integrated in a terminal device), such as a UE, etc. Without any limitation, the first device 110 may also be another separate device other than a network device and a terminal device. The communication architecture scenario 100 also shows a second device 120. In the present disclosure, the second device 120 may be a perception management device for managing a perception process, or the second device 120 is configured with a logical function of managing a perception process. In some examples, the second device 120 may be a core network (CN) device. Without any limitation, the second device 120 may also be an independent server device or a management function integrated in a cloud service. The communication architecture scenario 100 also shows a third device 130. In the present disclosure, the third device 130 is a perception signal sending device for sending a perception signal to a target to be perceived during a perception process. In some examples, the third device 130 may be a network device (or integrated in a network device), such as an eNB or a gNB. Alternatively, the third device 130 may also be a terminal device (or integrated in a terminal device), such as a UE. Without any limitation, the third device 130 may also be any other device with a signal transmission capability. The communication architecture scenario 100 also shows a fourth device 140. In the present disclosure, the fourth device 140 is a perception signal receiving device for receiving a perception signal reflected by a perception target during a perception process. In some examples, the fourth device 140 may be a network device (or integrated in a network device), such as an eNB or a gNB. Alternatively, the fourth device 140 may also be a terminal device (or integrated in a terminal device), such as a UE, etc. Without any limitation, the fourth device 140 may also be any other device having a signal transmission capability. In addition, sensing targets 150 and 160 as examples of targets to be sensed are also shown in the communication architecture scenario 100. It should be understood that the sensing targets 150 and 160 are presented only as examples, and any other fixed or mobile sensing targets may also exist.

[0094] Figure 1B Another example communication architecture scenario in which embodiments of the present disclosure may be implemented is shown. Figure 1B In the example, the scheduler 110 may be Figure 1AIn the first device 110, the perception management device 120 can Figure 1A The second device 120 in the communication device 130 may be Figure 1A The third device 130 in the embodiment, and the communication device 140 may be Figure 1A The fourth device 140 in the example shown in Figure 1. In the example shown in Figure 1, the third device 130 is shown as a base station or a sending and receiving point 130, and the fourth device 140 is shown as a base station or a sending and receiving point 140. It should be understood that the third device and the fourth device can also be other communication devices. As shown in Figure 1, the perception management device 120 may include a detection management module, a positioning management module, and a speed measurement management module that perform corresponding functions, wherein one or more functions of the detection management module, the positioning management module, and the speed measurement management module may also be concentrated in one functional module, which is not limited in the present application. In addition, the perception management device 120 may also include other functional modules, which are not limited in the present application.

[0095] Without any limitation, the present disclosure can be used for vehicles, drones and navigation, road intruder (organisms, drones, etc.) detection and positioning in intelligent traffic scenarios. The system architecture involved in the present disclosure has been specific to each embodiment, and the communication network units involved include: base station, UE, perception management device, etc. In addition, there are targets to be perceived in the network, and the present disclosure considers that the targets to be perceived may not cooperate with the perception network to communicate. The signal transmission method involved in the present disclosure may include: base station 130 and base station 140 can transmit data with the perception management device 120. Base stations 130 and 140 can wirelessly communicate with UEs within the coverage area and can also measure reference signals for network positioning. In an example, the positioning server can perform network positioning for UE through base stations 130 and 140. The positioning coordinates of the UE are stored in the positioning server and can be sent to the perception management device. Specifically, some examples of positioning processes are shown below. For example, the perception signal (wireless signal) transmission method includes a third device 130 sending a signal, and the signal is received by the third device 130 after being reflected by the perception target. The third device 130 sends a signal, and the signal is received by the fourth device 140 after being reflected by the sensing target. In a specific example, the third device and the fourth device may be terminal devices, such as UE 130 and UE 140. In this case, the positioning process may be as follows: UE 130 sends a signal, and the signal is received by UE 130 after being reflected by the sensing target. Thereafter, UE 130 transmits the sensing parameters for the target to the base station. Alternatively, UE 130 sends a signal, and the signal is received by UE 140 after being reflected by the sensing target. Thereafter, UE 140 transmits the sensing parameters for the target to the base station. Alternatively, the base station sends a signal, and the signal is received by UE 130 or 140 after being reflected by the sensing target. Thereafter, UE 130 or 140 transmits the sensing parameters for the target to the base station. Alternatively, UE 130 or 140 sends a signal, and the signal is received by the base station after being reflected by the sensing target.

[0096] Figure 2 A signaling process 200 for scheduling a sensing process for one or more sensing targets according to an embodiment of the present disclosure is shown. For the sake of clarity and without any limitation, the following embodiments will also be discussed in conjunction with FIG. 1 .

[0097] In the signaling process 200, the second device 120 determines (201) importance information of one or more perception targets. In some embodiments, the second device may determine the importance information for one or more perception targets based on at least one of business needs, target type, and / or time since the last time the location information of the perception target was obtained. Additionally, in some embodiments, the importance information of one or more perception targets may be represented as one or more importance factors corresponding to the one or more perception targets. An example of determining the importance information of different perception targets is shown below. In this example, for example, through preliminary perception or measurement, the second device 120 may have obtained one or more perception targets that need to be perceived (for example Figure 1A 150 and 160 in the perception target). In addition, the second device 120 determines that the perception target 150 is a drone, and the perception target 160 is a vehicle. Then, according to the business needs of the intelligent traffic scenario, the second device 120 can determine that the refresh period of the perception result for the perception target 150 is 10ms, and the refresh period of the perception result for the perception target 160 is 1s. At time t0, the second device 150 determines that the perception result of the perception target 150 has not been refreshed for nearly 10ms, and the perception result of the perception target 160 has just been updated. In this case, the second device 150 can set the importance factor corresponding to the perception target 150 to 10, and set the importance factor corresponding to the perception target 160 to 1. Different importance factors can indicate that the corresponding different perception targets have different degrees of importance in the perception process. For example, in the above example, the importance factor set to 10 can be regarded as more important than the importance factor set to 1. Accordingly, the perception target 150 should be perceived and / or measured with higher priority and / or higher quality than the perception target 160 during the perception process. In other words, the importance information may be an importance factor embodied as a numerical value. In some examples, it may be predefined that the larger the importance value, the more important it is. Alternatively, it may also be predefined that the smaller the value, the more important it is. Additionally or alternatively, the absolute value of the numerical value corresponds to the importance. In some embodiments, in the case where the larger the numerical value is predefined, the more important it is, if the importance of the three perceived targets is 1, 10, and 100 respectively, then the difference in importance between the third and second targets is higher than the difference in importance between the second and first targets. It should be understood that other methods may also be used to represent importance information specific to perceived targets. For example, importance information may also be expressed by several levels, such as first level, second level, third level importance, etc. Similarly, the first level may be predefined as the most important or the third level may be predefined as the most important. Without limitation, the second device 120 may also determine the corresponding importance information of different perceived targets in any other manner.

[0098] Still refer to Figure 2, the second device 120 sends (210) importance information 213 of one or more perception targets to the first device 110. Additionally, the second device 120 may send one or more first identifiers of one or more perception targets to the first device 110, one of the one or more first identifiers may correspond to the importance information of one of the one or more perception targets. Thereby, based on the one or more identifiers, the first device 110 may know the importance information of one or more perception targets to be perceived. Additionally, the one or more identifiers are maintained by the second device 120, and the correspondence between the one or more identifiers and the one or more perception targets may be notified to the first device 110. Alternatively, the second device 120 may not send the one or more first identifiers of one or more perception targets to the first device 110. For example, the order of perception targets may be predefined between the first device 110 and the second device 120. In this case, the second device may send (210) the importance information 213 to the first device 110 according to the order of perception targets.

[0099] Additionally, as described above, the second device 120 may have obtained N perception targets that need to be perceived. For example, through initial perception or measurement, the second device 120 may obtain the location information of one or more perception targets at or before time t0. Subsequently, in order to better perform the perception process for these perception targets, the second device 120 may estimate the predicted positions of these perception targets. Then, the second device 120 may send (210) one or more predicted positions 217 of one or more targets to the first device 110 so that the first device 110 can schedule the third device and the fourth device to perform the sending and receiving of perception signals. Additionally or alternatively, the second device 120 may also indicate (210) the start time and / or effective time period 217 for these predicted positions. In this way, the first device 110 can obtain the effective duration of the above-mentioned predicted positions. For discussion purposes only, reference may be made to Figure 4 Let's discuss the predicted location and the start time and / or validity period for the predicted location.

[0100] Figure 4 An example of effective time according to an embodiment of the present disclosure is shown.

[0101] As described above, the second device 120 may send to the first device 110: the first identifier of one or more perception targets, the importance factor corresponding to the perception target, the predicted position of the perception target at the time t1 to be perceived (for example, represented by two-dimensional or three-dimensional coordinates), the start time and valid timer corresponding to the predicted position, and / or the start time and valid timer of the perception trigger. Alternatively, without sending the start time, the moment t1 may be considered as the start time. Optionally, in some embodiments, the start time and end time, the valid time period and end time, etc. may also be indicated. It should be understood that any other method may also be used to indicate the valid time period, and the present disclosure does not impose any limitation on this.

[0102] Back to Figure 2 , the first device 110 receives (215) importance information 213 from the second device 120 accordingly. Additionally, the first device 110 may also receive (218) one or more predicted locations of one or more targets and a start time and / or valid time period 217 for these predicted locations from the second device 120. Then, based on the importance information 213, the first device 110 determines (220) priority information of one or more perception targets in the perception scheduling. As described above, if the first importance factor of the first perception target is more important than the second importance factor of the second perception target, the first device 110 may prioritize the perception scheduling for the first perception target, for example, the first perception target is configured with a higher priority in the perception process.

[0103] Furthermore, based on the determined priority information, the first device 110 sends scheduling information to at least one of the third device 130 or the fourth device 140. The scheduling information includes first scheduling information or second scheduling information. The first scheduling information is used to schedule the third device 130 to send a sensing signal for sensing one or more sensing targets, and the second scheduling information is used to schedule the fourth device 140 to receive the sensing signal. In some embodiments, the first device 110 and the third device 130 are the same device, such as the same BS or the same UE. In this case, the first device 110 can configure the first scheduling information through the internal signaling of the device. Additionally, the first device 110 (or the third device 130) sends the second scheduling information to the fourth device 140. Alternatively, the first device 110 and the fourth device 140 are the same device, such as the same BS or the same UE. In this case, the first device 110 can configure the second scheduling information through the internal signaling of the device. Additionally, the first device 110 (or the fourth device 140) sends the first scheduling information to the third device 130. Alternatively, the first device 110 is a device independent of the third device and the fourth device. In this case, the first device 110 may send ( 230 ) first scheduling information 233 to the third device 130 and send ( 237 ) second scheduling information 238 to the fourth device 140 , respectively.

[0104] In some embodiments, the first scheduling information includes: one or more of: a second identifier of the sensing target, transmit beamforming information for the sensing target, transmit time-frequency resources for the sensing target, and / or a first transmit power of the sensing signal. In some examples, the transmit beamforming information is determined based on the predicted position of the sensing target, so that the transmission gain of the sensing signal in the direction of the sensing target is large. Additionally, the second scheduling information includes: one or more of the transmit beamforming information for the sensing target and / or the transmit time-frequency resources for the sensing target. In some examples, the receive beamforming information is determined based on the predicted position of the sensing target, so that the receive gain in the direction of the sensing target is large. In some embodiments, the second identifier of the sensing target is maintained by the first device 110 and can be notified to the third device 130 and the fourth device 140. For example, the first device 110 can determine the second identifier of the sensing target based on the first identifier of the sensing target from the second device 120. In this way, the sensing target can be identified between the first device 110, the third device 130, and the fourth device 140 by the second identifier. Additionally, the sensing target is identified by the first identifier between the first device 110 and the second device 120. In this way, the identifiers of the sensing targets can be set respectively according to the different capabilities of different devices.

[0105] In addition, as described above, if the sensing effect is not ideal, the scheduling device may not be able to accurately adjust the retransmission power according to the channel response, because the channel response between the transceivers may be unknown to the scheduling device. To this end, the first device 110 can send (240) at least one reception quality threshold 243 to the fourth device 140, so that the fourth device 140 determines whether to feed back power control information associated with one or more sensing targets to the first device. The power control information is determined based on the at least one reception quality threshold.

[0106] In some embodiments, at least one reception quality threshold is the same for the one or more perception targets. For example, the at least one reception threshold is a common reception quality threshold. For perception targets with different priorities, the fourth device 140 determines the perception effect based on the common reception threshold. For example, the reception quality threshold may be a reception signal-to-noise ratio (SNR) threshold. If the reception SNR of any perception target is lower than the SNR threshold, the fourth device 140 may feed back power control information to the second device 120 so that the second device 120 schedules the third device 130 to increase the transmission power for the perception target. In this way, the quality threshold for perception reception may be uniformly set.

[0107] Alternatively, it is assumed that the one or more perception targets include a first perception target and a second perception target, and the importance information indicates that the importance of the second perception target is higher than that of the first perception target. In this case, the at least one reception quality threshold may include a first reception quality threshold for the first perception target and a second reception quality threshold for the second perception target, and the second reception quality threshold is higher than the first reception quality threshold. In this way, a higher reception quality threshold can be set for a perception target with higher importance or higher priority. Since the reception quality of the perception signal is related to the perception accuracy, a higher reception quality can obtain a higher perception accuracy. Therefore, by setting a higher reception quality threshold for an important target, the accuracy of the perception result of the target can be improved. Additionally or alternatively, the reception quality threshold may also refer to the signal received power (RSRP). It should be understood that the reception quality threshold may also adopt any other parameter related to the reception quality, and the present disclosure is not limited to this.

[0108] Still refer to Figure 2, the third device 130 receives (235) first scheduling information 233 from the first device 110. Alternatively, as described above, if the third device 130 and the first device 110 are the same device, the first scheduling information 233 is transmitted within the same device or the first scheduling information 233 can be directly obtained by the third device 130. Based on the first scheduling information 233, the third device 130 sends (250) a perception signal to one or more perception targets. For example, as described above, the first scheduling information may include: a second identifier of the perception target, transmit beamforming information for the perception target, transmit time-frequency resources for the perception target, and / or a first transmit power of the perception signal, etc. In this way, the third device 130 can perform beamforming for sending the perception signal based on the transmit beamforming information, use the transmit time-frequency resources to send the perception signal, and send the perception signal at the first transmit power, etc.

[0109] Similarly, the fourth device 140 receives (239) second scheduling information 238 from the first device 110. Alternatively, as described above, if the fourth device 140 and the first device 110 are the same device, the second scheduling information 238 is transmitted within the same device or the second scheduling information 238 can be directly obtained by the fourth device 140. Based on the second scheduling information 238, the fourth device 140 receives (255) a perception signal reflected by one or more perception targets. As described above, the perception signal can be a perception signal sent by the third device 130 based on the first scheduling information and reflected by one or more perception targets. For example, as described above, the second scheduling information can include: a second identifier of the perception target, receiving beamforming information for the perception target, and / or receiving time-frequency resources for the perception target. In this way, the third device 130 can perform beamforming for receiving the perception signal based on the receiving beamforming information, and use the receiving time-frequency resources to receive the perception signal. Additionally, the fourth device 140 can receive (243) at least one reception quality threshold, such as at least one receiving SNR threshold, from the first device 110.

[0110] Furthermore, based on the received perception signal, the fourth device 140 may determine the perception information for one or more perception targets, for example, determine the first perception information for the first perception target among the one or more perception targets. In some embodiments, the fourth device 140 may determine the first perception information by determining whether the received signal-to-noise ratio associated with the first perception target is higher than the reception quality threshold. The reception quality threshold may be a common reception quality threshold indicated by the first device 110. Alternatively, the reception quality threshold may also be a corresponding reception quality threshold for the first perception target among the one or more reception quality thresholds. For example, if the received signal-to-noise ratio associated with the first perception target is higher than or equal to the reception quality threshold first perception information, the fourth device 140 may include in the first perception information: a second identifier of the first perception target, a positive acknowledgement (ACK), information related to at least one of the position and speed of the first perception target, and a perception timestamp. Alternatively, if the received signal-to-noise ratio associated with the first perception target is lower than the reception quality threshold first perception information, the fourth device 140 may include in the first perception information: a second identifier of the first perception target, a negative acknowledgement (NACK), and power control information. In some embodiments, the power control information may include an index. For example, a power control information table may be predefined so that the device receiving the first perception information can obtain a specific value of the power boost according to the received index. Alternatively, the power control information may also directly include a specific value, such as 5dB, 10dB, etc.

[0111] Then, the fourth device 140 sends (260) first perception information 263 to the first device 110. Accordingly, the first device 110 receives (265) the first perception information 263 from the fourth device 140. Based on the content included in the first perception information 263, the first device 110 can send (290) second perception information 291 to the second device 120 for determining the perception result for one or more perception targets. The second perception information can be the first perception information or determined based on the first perception information. Alternatively, based on the first perception information, the first device can reschedule the third devices 130 and 140 to perceive the first perception target again.

[0112] In some embodiments, when the first perception information includes ACK, the first device 110 may send (290) second perception information 291 to the second device 120. Between the first device 110 and the second device 120, the second perception information may include a first identifier of the first perception target. Additionally, the second perception information also includes information related to at least one of the position or speed of the perception target. In this way, the second device 120 may determine the perception results of one or more perception targets based on the second perception information, such as the position, speed and / or posture of the first perception target.

[0113] Alternatively, in the case where the first perception information includes a negative acknowledgement NACK, the first device 110 may reschedule the perception process for the first perception target. For example, based on the first perception information including NACK, the first device 110 sends (271, 274) additional scheduling information to at least one of the third device 130 or the fourth device 140 to re-sens the first perception information. The additional scheduling information may include additional first scheduling information 273 for scheduling the transmission of the perception signal and second scheduling information 275 for rescheduling the perception for scheduling the reception of the perception signal (for the purpose of clarity only, the second scheduling information 275 for rescheduling the perception is also referred to as additional second scheduling information 275). Similarly, as described above, how the first device 110 sends the additional scheduling information depends on the relationship between the first device 110 and the third device 130 or the fourth device 140. For example, the first device 110 is an independent device, the same device as the third device 130, or the same device as the fourth device 140. Additionally, the additional first scheduling information includes a second transmission power adjusted based on the power control information included in the first perception information. As described above, the power control information may include a power index or a specific value, etc. In this way, the first device may accordingly instruct the third device 130 to increase the transmission power to improve the perception effect for the first perception target. Additionally, the additional first scheduling information includes content items similar to the first scheduling information, and the additional second scheduling information includes content items similar to the second scheduling information.

[0114] Additionally, even if the first perception information includes a negative acknowledgement NACK, whether the first device 110 reschedules the perception for the first perception target may further depend on whether the validity period 217 indicated by the second device 120 has expired. For example, the first device 110 may determine whether the validity period associated with the first perception target has expired, such as determining whether a valid timer for the predicted position of the first perception target has expired. If the valid period has not expired (i.e., meaning that the predicted position of the second device 120 is still valid), the first device 110 may send the above-mentioned additional scheduling information to re-perform perception on the first perception target. Otherwise, the first device 110 will not schedule the perception process for the first perception target again.

[0115] If the first device 110 reschedules the sensing process for the first sensing target, the third device 130 may receive (273) first scheduling information 272 for rescheduling the sensing (for the purpose of clarity only, the first scheduling information 272 for rescheduling the sensing is also referred to as additional first scheduling information 272). The fourth device 140 may receive (276) additional second scheduling information 275. Further, based on the additional first scheduling information, the third device 130 sends (277) a sensing signal for the first sensing target. In addition, the fourth device 140 receives (278) a corresponding sensing signal. Similarly, based on the received sensing signal, the fourth device 140 determines additional first sensing information for the first sensing target and sends the additional first sensing information to the first device 110 again. If the additional first sensing information includes ACK, the first device 110 may send additional second sensing information corresponding to the additional first sensing information to the second device 120. Alternatively, if the additional first sensing information also includes NACK, the first device 110 may schedule the scheduling process for the first sensing target iteratively similar to the above process.

[0116] In this way, when the perception management device instructs the scheduler to schedule the perception process for multiple perception targets, an importance factor can be specified for each perception target so that the scheduler can prioritize the perception targets. Additionally, after each perception signal is received, the perception receiving device determines whether the received SNR is higher than the reception quality threshold. If it is higher than the threshold, ACK and parameter estimation values ​​are fed back. If it is lower than the threshold, NACK is fed back and power control information is indicated. In this way, when it is necessary to perform the perception process in a communication network that supports the integration of communication and perception, the perception priority for different perception targets can be controlled and scheduled according to the importance of perception, and the transmission and reception of perception signals can be further optimized.

[0117] Additionally or alternatively, in the above, between the first device 110 and the second device 120, the importance information of the sensing target is associated with the first identifier of the sensing target. Between the first device 110 and the third device 130 or the fourth device 140, the importance information of the sensing target is associated with the second identifier of the sensing target. In one aspect, this can make the information maintenance of the sensing target more flexible. However, this may require different devices to consume resources to maintain the corresponding information of the sensing target respectively. In view of the above situation, the present disclosure also proposes a method of using indication information to uniformly indicate the following items between different devices: the third identifier of the sensing target, the importance information, the reception quality threshold, the third device identifier (ID), the fourth device ID, the predicted position of the sensing target, and / or the effective time, etc. The third identifier of the sensing target in the sensing tunnel information is common among the first device 110, the second device 120, the third device 130 and the fourth device 140. In the present disclosure, the indication information may be referred to as sensing indication information, may also be referred to as sensing tunnel information, and may also be referred to as a sensing tunnel structure. Therefore, in the embodiments of the present disclosure, the sensing indication information, the sensing pipeline information and the sensing pipeline structure can be used interchangeably without any limitation. It should be understood that the above indication information is limited by its own characteristics and is not affected by its name.

[0118] For example, the sensing pipeline information may include at least one of the following: a third identifier of a sensing target, for example, the sensing target may be at least one of the one or more sensing targets; importance information associated with the sensing target; a sensing reception quality threshold for the sensing target; a first device identifier associated with the sending of a sensing signal; a second device identifier associated with the receiving of a sensing signal; a predicted position of the sensing target; a start time for the sensing target; or a valid time period for the sensing target. As an example only, the following Table 1 shows an example of the sensing pipeline information.

[0119] Table 1 Schematic diagram of the perception pipeline structure

[0120]

[0121] The pipe ID in Table 1 may be the third identifier of the above-mentioned perception target. The target importance index indicates the importance information of the perception target. The sending device ID indicates the ID of the device that sends the perception signal. The receiving device ID indicates the ID of the device that receives the perception signal. The target predicted position is the predicted position of the perception target. The SNR threshold is the reception quality threshold of the corresponding perception target. The valid timer is the valid time period of the predicted position.

[0122] In this way, the importance information 213, predicted position, etc. 217, and second perception information 291 transmitted between the first device and the second device can be indicated based on the perception pipeline information. Similarly, the signaling transmitted between the first device 110 and the third device 130, and the signaling transmitted between the first device 110 and the fourth device 140 can also be indicated based on the perception pipeline information. In this way, the information indication between devices can be simplified. In this way, the perception management device can configure one or more perception pipelines for the scheduler to indicate key scheduling information such as the importance of each target, Tx-Rx combination, SNR threshold, etc. to the scheduler. In this way, when scheduling and feedback, the device may not need to indicate the target-ID, but only needs to feedback the pipeline ID (i.e., the third identifier). For further information about the scheduling process based on perception pipeline information, please refer to Figure 5 Related embodiments.

[0123] For example only, refer to Figure 3 A specific example of a scheduling process for one or more sensing targets is discussed.

[0124] Figure 3 An example of a signaling process for scheduling a sensing process for one or more sensing targets according to an embodiment of the present disclosure is shown.

[0125] Reference Figure 3 Four logical entities are shown, a perception management device 120, a scheduler 110, a transmitting device (Tx) 130, and a receiving device (Rx) 140. The perception management device 120 may be Figure 2 In the second device 120, the scheduler 110 may be Figure 2 In the first device 110, the transmitting device 130 may be Figure 2 The third device 130, and the receiving device 140 may be Figure 2 The third device and the fourth device 140 are in the core network. The sensing management device is generally located in the core network, and can also be located in the base station. The scheduler, the transmitting device and the receiving device are generally located in the access network (RAN, Radio Access Network). Other combinations of the four logical entities and the physical entity will be described in Figures 6 to 10 discussed in.

[0126] exist Figure 3In the figure, the following steps for the management / scheduling of the perception target process are shown. In the previous steps, the perception management device has sensed N targets in the network and predicted their positions at time t1. In addition, the network determines that target-1 is a vehicle and target-2 is a slow-moving target. According to the business needs of the intelligent traffic scenario, the perception management device determines that the refresh period of the perception result for target-1 is 10ms, and the refresh period of the perception result for target-2 is 1s. At time t0, the perception management device determines that the perception result of target-1 has not been refreshed for nearly 10ms, and the perception result of target-2 has just been refreshed. In this case, the perception management device determines that the importance factor of target-1 is 10, and the importance factor of target-2 is 1.

[0127] In step one, the perception management device sends the first target ID of N targets and the importance factor 301 corresponding to each target to the scheduler. Additionally, the perception management device sends the predicted position of the target at time t1 (expressed in two-dimensional or three-dimensional coordinates), as well as the start time and effective timer corresponding to the predicted position, and / or the start time and effective timer 301 of the perception trigger. If the start time is not configured, the start time can be defaulted to time t1. The importance factor can be a numerical value. The protocol stipulates that the larger the numerical value, the more important it is, or the smaller the numerical value, the more important it is. The absolute value of the numerical value corresponds to the importance. For example, when the protocol stipulates that the larger the numerical value, the more important it is, and the importance of the three targets is 1, 10, and 100 respectively, the difference in importance between the third and second targets is higher than the difference in importance between the second and first targets. The importance factor can also be expressed by several levels, such as first-level, second-level, and third-level importance, etc., with the first level being the most important.

[0128] In step 2, the scheduler configures an SNR threshold 303 for Rx for power control feedback. The threshold may also be specified by a protocol, or sent to Rx by the scheduler before step 1, such as 5dB, 10dB, etc., which is not limited in the embodiments of the present disclosure.

[0129] In step 3, the scheduler sends scheduling information 305 to Tx to schedule the sending of sensing signals for target-1 and target-2. The scheduling information includes the second target ID for sensing the two targets, the time and frequency resources used for sensing, the transmit beamforming, and the transmit power. In addition, the time resources used for sensing should be after the start time and within the valid timer.

[0130] In step 4, the scheduler sends scheduling information 307 to Rx to schedule the reception of sensing signals for target-1 and target-2. The scheduling information includes the second target ID for sensing the two targets, the time and frequency resources used for sensing, and the receiving beamforming. Among them, the time resources used for sensing should be located after the start time and within the valid timer. The order of steps 3 and 4 is interchangeable, and the embodiments of the present disclosure are not limited thereto.

[0131] In step five, Tx sends a perception signal according to the scheduler's instruction, and Rx receives a perception signal according to the scheduler's instruction. Rx feeds back to the scheduler the following perception results based on the perception signal reception result: second target ID+ACK+perception result 309 of target's range, angle, velocity (RAV) and other parameters. ACK indicates that Rx successfully perceives the target represented by the second target ID, and the perceived received power (perception signal received power or target corresponding path received power) exceeds the SNR threshold in step two. Alternatively, the second target ID+NACK+power control indication 309 is fed back. NACK indicates that Rx fails to successfully perceive the target represented by the second target ID, or the perceived received power (perception signal received power or target corresponding path received power) does not exceed the SNR threshold in step ②. Rx feeds back a power control indication to the scheduler, and the indication content may be an index (the power control information table is specified in the protocol, and the specific value can be queried according to the index), or a specific value, such as 5dB, 10dB, etc. Rx can feed back the perception information of one or more scheduled targets to the scheduler, and each result is distinguished by the target ID.

[0132] In step six, if Rx feeds back one or more ACKs in step five, the scheduler feeds back the first target ID of the ACK target, as well as the perception result 311 of the distance, angle, speed and other parameters of the target, and feeds back the perceived timestamp t2 to the perception management device.

[0133] In steps 7 and 8, for the target to which NACK is fed back in step 5, for example, target-1, if the valid timer has not timed out, the scheduler sends scheduling information 313 and 315 for target-1 to Tx and Rx, and the scheduling information is the same as that in steps 2 and 3, and the scheduled transmit power is adjusted and increased according to the power control indication fed back in step 5. The order of steps 7 and 8 is interchangeable, and the embodiments of the present disclosure are not limited thereto.

[0134] In step nine, Tx sends a sensing signal according to the instruction of the scheduler, and Rx receives the sensing signal according to the instruction of the scheduler. Rx feeds back sensing information 317 to the scheduler according to the result of receiving the sensing signal, which is the same as step five.

[0135] In step ten, if ACK is fed back in step ⑨, the scheduler feeds back perception information 319 to the perception management device, the content of which is the same as that of step six.

[0136] In step eleven, the perception management device detects, locates, and measures the speed of each target that triggers the scheduling request based on the perception results of the distance, angle, speed and other parameters corresponding to each target fed back by the scheduler.

[0137] by Figure 3 In the above steps of the example, two types of target IDs are used to distinguish each target. The first type of target ID is maintained and assigned by the perception manager, and is used in the process from triggering scheduling to finally receiving the perception result; the second type of target ID is maintained and assigned by the scheduler, and is used in the scheduling process. The following shows the information set through a perception tunnel, which contains the complete information that the scheduler needs to know for perception scheduling, and is used for simple information indication between the perception manager, scheduler, and transceiver (for example, the network has no concept of target ID, or the ID field is too long to be used).

[0138] Figure 5 FIG. 4 shows an example of a signaling process for scheduling a sensing process for one or more sensing targets based on sensing pipe information according to an embodiment of the present disclosure. After using the sensing pipe, the sensing process is as follows: Figure 5 As shown, the specific steps include the following steps.

[0139] Precursor step: The perception management device obtains all parameters in the perception pipeline structure. For example, the perception management device has sensed N targets in the network and predicted their positions at time t1. In addition, the network determines that target-1 is a vehicle and target-2 is a slow-moving target. According to the business needs of the intelligent traffic scenario, the perception management device determines that the refresh period of the perception result for target-1 is 10ms, and the refresh period of the perception result for target-2 is 1s. At time t0, the perception management device determines that the perception result of target-1 has not been refreshed for nearly 10ms, and the perception result of target-2 has just been refreshed. In this case, the perception management device determines that the importance factor of target-1 is 10, and the importance factor of target-2 is 1. Due to the high importance of target-1, the SNR threshold set for pipeline-1 is also correspondingly high.

[0140] In step one, the perception management device configures the perception pipeline 501 for the scheduler, for example, according to the above Table 1.

[0141] In step 2, the scheduler sends part or all of the configuration information 503, 503 of the sensing pipeline to Tx and Rx, where the necessary information includes the pipeline ID and the SNR threshold.

[0142] In step 3, the scheduler sends scheduling information 505 and 507 to Tx and Rx, indicating M pipeline IDs (M<=N), and scheduling the sending and receiving of sensing signals for M targets. The scheduling information 505 sent to Tx includes the time-frequency resources used for sensing, transmit beamforming, and transmit power. The scheduling information 507 sent to Rx includes the time-frequency resources used for sensing and receive beamforming.

[0143] In step 4, Tx sends a perception signal according to the scheduler's instruction, and Rx receives a perception signal according to the scheduler's instruction. Rx feeds back to the scheduler based on the perception signal reception result: pipeline ID+ACK+perception result 509 of the target's distance, angle, speed and other parameters. It means that Rx successfully perceives the target, and the perceived received power (perception signal received power or the received power of the target corresponding path) exceeds the SNR threshold in step 2. Or, feedback pipeline ID+NACK+power control indication 509. It means that Rx fails to successfully perceive the target, or the perceived received power (perception signal received power or the received power of the target corresponding path) does not exceed the SNR threshold in step 2. Rx feeds back a power control indication to the scheduler, and the indication content can be an index (the power control information table is specified in the protocol, and the specific value can be queried according to the index) or a specific value, such as 5dB, 10dB, etc. Rx can feed back the perception information of one or more scheduled targets to the scheduler, and each result is distinguished by the pipeline ID.

[0144] In step five, if Rx feeds back one or more ACKs in step four, the scheduler feeds back the pipeline ID of the ACK target, as well as the perception results of the target's distance, angle, speed and other parameters, and feeds back the timestamp t2 517 of the perception of the target to the perception management device.

[0145] In step six, for the target that feedback NACK in step four, such as the target with pipe ID = 1, if the valid timer has not timed out, the scheduler sends scheduling information 513 for the target with pipe ID = 1 to Tx and Rx. The scheduling information is the same as that in step three, and the scheduling transmission power is adjusted and increased according to the power control indication fed back in step four.

[0146] In step 7, Tx sends the perception signal according to the scheduler's instruction, and Rx receives the perception signal according to the scheduler's instruction. Rx feeds back the perception information to the scheduler based on the perception signal reception result, which is the same as step 5.

[0147] In step eight, if ACK is fed back in step five, the scheduler feeds back perception information to the perception management device, the content of which is the same as that of step five.

[0148] In step nine, the perception management device detects, locates, and measures the speed of each target that triggers the scheduling request based on the perception results of the distance, angle, speed and other parameters corresponding to each target fed back by the scheduler.

[0149] The above embodiment mainly discusses the scheduling process when the first device 110 is a single device. Figures 6 to 12 A specific example of a perception process in which the first device is located in a perception signal sending device and a perception signal receiving device, and the perception signal sending device and the receiving device are a base station or a UE, respectively, is discussed.

[0150] Figure 6 1 shows an example communication architecture scenario in which the first device and the third device are the same device according to an embodiment of the present disclosure. Specifically, the scheduler 110 can be set on the Tx base station 130 (also referred to as base station 1). In addition, the perception signal receiving device 140 is a base station 2 140 or a UE 140 (for example, a UE covered by base station 1). The system architecture is as follows: Figure 6 shown.

[0151] Figure 7 An example of a signaling process for scheduling a sensing process for one or more sensing targets when a first device and a third device are the same device according to an embodiment of the present disclosure is shown.

[0152] In with Figure 7 In the relevant embodiments, the scheduling information sent by the base station to the UE can be carried by downlink control information (DCI), or by other signaling such as radio resource control (RRC) signaling, medium access control control element (MAC CE), etc., which is not limited in this disclosure. The information fed back by the UE to the base station can be carried by uplink control reverse UCI (PUCCH) or by uplink shared channel (PUSCH), which is not limited in this disclosure.

[0153] exist Figure 7 In the preceding steps, Figure 2 , Figure 4 and Figure 5 In step 1, the perception management device sends the first target ID of N targets and the importance factor 701 corresponding to each target to base station 1. Additionally, the predicted position of the target at time t1 (expressed in two-dimensional or three-dimensional coordinates), the start time and valid timer corresponding to the predicted position, and / or the start time and valid timer 701 of the perception triggering are sent. If the start time is not configured, t1 can be defaulted to the start time.

[0154] In step 2, base station 1 configures an SNR threshold for base station 2 and / or UE for power control feedback 703. The threshold may also be specified by a protocol, or sent by base station 1 to base station 2 and / or UE before step 1, such as 5 dB, 10 dB, etc., which is not limited in the embodiments of the present disclosure.

[0155] In step 3, base station 1 sends scheduling information to base station 2 and / or UE to schedule the reception of sensing signals for target-1 and target-2, and the scheduling information includes the second target ID used to sense the two targets, the time and frequency resources used for sensing, and the receiving beamforming 705. The time resources used for sensing should be located after the start time and within the valid timer.

[0156] In step 4, base station 1 sends a perception signal, and base station 2 and / or UE receive the perception signal according to the instruction of base station 1. Base station 2 and / or UE feedback the second target ID+ACK+the perception result of the distance, angle, speed and other parameters of the target to base station 1 according to the reception result of the perception signal 707. This means that base station 2 and / or UE successfully perceives the target, and the perceived received power (perceived signal received power or the received power of the path corresponding to the target) exceeds the SNR threshold in step 2. Alternatively, the second target ID+NACK+power control indication 707 is fed back. This means that base station 2 and / or UE fail to successfully perceive the target, or the perceived received power (perceived signal received power or the received power of the path corresponding to the target) does not exceed the SNR threshold in step 2. Base station 2 and / or UE feedback the power control indication to base station 1, and the indication content can be an index (the power control information table is specified in the protocol, and the specific value can be queried according to the index) or a specific value, such as 5dB, 10dB, etc. Base station 2 and / or UE can feedback the perception information of one or more scheduled targets to base station 1, and each result is distinguished by the target ID.

[0157] In step five, if base station 2 and / or UE feedback one or more ACKs in step four, base station 1 feedbacks the first target ID of the ACK target, as well as the perception result 709 of the distance, angle, speed and other parameters of the target to the perception management device, and feedbacks the perceived timestamp t2.

[0158] In step six, for the target for which NACK is fed back in step four, for example, target -1, if the valid timer has not expired, base station 1 sends scheduling information 711 for target -1 to base station 2 and / or UE. The scheduling information is the same as that in step three, and the scheduling transmission power is adjusted and increased according to the power control indication fed back in step five.

[0159] In step 7, base station 1 sends a perception signal, and base station 2 and / or UE receive the perception signal according to the instruction of base station 1. Base station 2 and / or UE feedback the perception information to base station 1 according to the reception result of the perception signal, which is the same as step 4. In step 8, if ACK is fed back in step 7, base station 1 feeds back the perception information to the perception management device, and the content is the same as step 6. In step 9, the perception management device detects, locates, and measures the speed of each target that triggers the scheduling request according to the perception results of the distance, angle, speed and other parameters corresponding to each target fed back by base station 1.

[0160] Figure 8 An example of a signaling process for scheduling a sensing process for one or more sensing targets based on sensing pipe information when a first device and a third device are the same device according to an embodiment of the present disclosure is shown.

[0161] exist Figure 8 In the preceding steps, Figure 2 , Figure 4 and Figure 5 In step 1, the sensing management device configures a sensing pipe 801 for base station 1, for example, according to Table 1. In step 2, base station 1 sends part or all of the configuration information 803 of the sensing pipe to base station 2 and / or UE, wherein the necessary information includes the pipe ID and the SNR threshold.

[0162] In step 3, base station 1 sends scheduling information 805 to base station 2 and / or UE, indicating M pipeline IDs (M<=N), and scheduling the sending and receiving of sensing signals for M targets. The scheduling information sent to base station 2 and / or UE includes the time-frequency resources used for sensing and the receiving beamforming.

[0163] In step 4, base station 1 sends a perception signal, and base station 2 and / or UE receive the perception signal according to the instruction of base station 1. Base station 2 and / or UE feedbacks pipeline ID+ACK+perception result 807 of target parameters such as distance, angle, speed, etc. to base station 1 according to the perception signal reception result. It indicates that base station 2 and / or UE successfully perceives the target, and the perceived received power (perception signal received power or the received power of the path corresponding to the target) exceeds the SNR threshold in step ②. Alternatively, feedback pipeline ID+NACK+power control indication 807. It indicates that base station 2 and / or UE fail to successfully perceive the target, or the perceived received power (perception signal received power or the received power of the path corresponding to the target) does not exceed the SNR threshold in step ②. Base station 2 and / or UE feedback power control indication to base station 1, and the indication content can be an index (power control information table specified in the protocol, and specific values ​​can be queried according to the index) or a specific value, such as 5dB, 10dB, etc. Base station 2 and / or UE can feedback perception information of one or more scheduled targets to base station 1, and each result is distinguished by pipeline ID.

[0164] In step five, if base station 2 and / or UE feedback one or more ACKs in step ④, base station 1 feedbacks the pipe ID of the ACK target, as well as the perception results of the target's distance, angle, speed and other parameters to the perception management device, and feedbacks the perceived timestamp t2 809.

[0165] In step six, for the target to which NACK is fed back in step ④, for example, the target with pipe ID=1, if the valid timer has not expired, base station 1 sends scheduling information 811 for the target with pipe ID=1 to Tx and base station 2 and / or UE, and the scheduling information is the same as that in step three, and the scheduling transmission power is adjusted and increased according to the power control indication fed back in step four.

[0166] In step seven, base station 1 sends a sensing signal, and base station 2 and / or UE receives the sensing signal according to the instruction of base station 1. Base station 2 and / or UE feeds back sensing information 813 to base station 1 according to the sensing signal reception result, which is the same as step five.

[0167] In step eight, if ACK is fed back in step seven, base station 1 feeds back perception information 815 to the perception management device, the content of which is the same as step four.

[0168] In step nine, the perception management device detects, locates, and measures the speed of each target that triggers the scheduling request based on the perception results of the distance, angle, speed, and other parameters corresponding to each target fed back by base station 1.

[0169] Alternatively, the first device 110 and the fourth device 140 may also be the same device. Fig. 9 FIG. 2 shows an example communication architecture scenario in which the first device and the fourth device are the same device according to an embodiment of the present disclosure. Fig. 9 In the specific example discussed, the scheduler device 110 is set on the perception signal receiving device-Rx base station (base station 2), and the perception signal sending device-Tx is base station 1 or UE (UE covered by base station 1). Fig. 9 In the specific example discussed, the scheduling information sent by the base station to the UE can be carried by DCI, or by other signaling such as RRC signaling, MAC CE, etc., which is not limited in the present disclosure.

[0170] Fig.10 An example of a signaling process for scheduling a perception process for one or more perception targets when a first device and a fourth device are the same device according to an embodiment of the present disclosure is shown.

[0171] exist Fig.10 In the preceding steps, Figure 2 , Figure 4 and Figure 5In step 1, the perception management device sends the first target ID of N targets and the importance factor 1001 corresponding to each target to base station 2. Additionally, the predicted position of the target at time t1 (expressed in two-dimensional or three-dimensional coordinates), the start time and valid timer corresponding to the predicted position, and / or the start time and valid timer 1001 of the perception triggering are sent. If the start time is not configured, the start time can be defaulted to time t1.

[0172] In step 2, base station 2 sends scheduling information 1003 to base station 1 and / or UE to schedule the sending of sensing signals for target-1 and target-2, and the scheduling information includes the second target ID used to sense the two targets, the time and frequency resources used for sensing, the transmit beamforming, and the transmit power. Among them, the time resources used for sensing should be located after the start time and within the valid timer.

[0173] In step 3, base station 2 and / or UE sends a perception signal according to the instruction of base station 1, and base station 1 instructs to receive the perception signal. If there are one or more ACKs, base station 1 feeds back the first target ID of the ACK target, as well as the perception results of the target's distance, angle, speed and other parameters, and feeds back the perceived timestamp t2 1005 to the perception management device.

[0174] In step four, for the target of NACK, such as target -1, if the valid timer has not expired, base station 2 sends scheduling information 1007 for target -1 to base station 1 and / or UE. The scheduling information is the same as that in step two, and the scheduling transmission power is adjusted and increased according to the power control indication fed back in step five.

[0175] In step 5, base station 2 and / or UE sends a sensing signal according to the instruction of base station 1, and base station 1 receives the sensing signal. If there are one or more ACKs, base station 1 feeds back sensing information 1009 to the sensing management device, and the content is the same as step 3.

[0176] Step 6: The perception management device detects, locates, and measures the speed of each target that triggers the scheduling request based on the perception results of the distance, angle, speed and other parameters corresponding to each target fed back by the base station 1 1011.

[0177] Fig.11 An example of a signaling process for scheduling a sensing process for one or more sensing targets based on sensing pipe information when a first device and a fourth device are the same device according to an embodiment of the present disclosure is shown.

[0178] exist Fig.11 In the preceding steps, Figure 2 , Figure 4 and Figure 5In step 1, the sensing management device configures the sensing pipe 1101 for the base station 2, for example, according to Table 1.

[0179] In step 2, base station 2 sends scheduling information 1103 to base station 1 and / or UE, indicating M pipeline IDs (M<=N), and scheduling the transmission of sensing signals for M targets. The scheduling information sent to base station 2 and / or UE includes the time-frequency resources used for sensing, transmit beamforming, and transmit power.

[0180] In step 3, base station 1 and / or UE sends a sensing signal according to the instruction of base station 1, and base station 1 receives the sensing signal. If there are one or more ACKs, base station 1 feeds back the pipe ID of the ACK target, the sensing results of the distance, angle, speed and other parameters of the target, and the sensed timestamp t2 1105 to the sensing management device.

[0181] In step four, for the NACK target, such as the target with pipe ID = 1, if the valid timer has not timed out, base station 1 sends scheduling information 1107 for the target with pipe ID = 1 to base station 2 and / or UE, and the scheduling information is the same as that in step three, and the scheduling transmission power is adjusted and increased according to the receiving power in step three.

[0182] In step five, base station 2 and / or UE sends a sensing signal according to the instruction of base station 1, and base station 1 receives the sensing signal. If there are one or more ACKs, base station 1 feeds back sensing information 1109 to the sensing management device, and the content is the same as step three.

[0183] In step six, the perception management device detects, locates, and measures the speed 1111 of each target that triggers the scheduling request based on the perception results of the distance, angle, speed and other parameters corresponding to each target fed back by base station 1.

[0184] Alternatively, the first device 110 may be a base station, and the third device 130 and the fourth device 140 may be terminal devices. Fig.12 FIG. 2 shows an example communication architecture scenario in which the third device and the fourth device are terminal devices according to an embodiment of the present disclosure. Fig.12 As shown in , the scheduler 110 may be configured at the base station. The sensing signal sending device - Tx may be UE1. The sensing signal receiving device - Rx may be UE2. Additionally, UE1 and UE2 may be UEs under the coverage of the base station. In this case, Figure 2The first device 110 is replaced by a base station, the third device 130 is replaced by UE1, and the fourth device 140 is replaced by UE2. The rest of the perception process can remain unchanged, so it is not repeated here. Additionally, the scheduling information sent by the base station to the UE can be carried by DCI, or by other signaling such as RRC signaling, MAC CE, etc., which is not limited by the embodiments of the present disclosure. The information that the UE feeds back to the base station can be carried by UCI (PUCCH) or by PUSCH, which is not limited by the embodiments of the present disclosure.

[0185] Without any limitation, the present disclosure may involve base stations, core networks (perception management devices, positioning servers), terminals (including CPE), etc. The network devices involved in the embodiments of the present disclosure include access network devices, such as base stations (BS), which may be a device deployed in a wireless access network that can communicate wirelessly with a terminal. Among them, base stations may have various forms, such as macro base stations, micro base stations, relay stations, and access points. Exemplarily, the base stations involved in the embodiments of the present application may be base stations in 6G, 5G, or base stations in LTE, and the base stations may also be referred to as transmission reception points (TRPs) or gNBs. In the embodiments of the present application, the device for implementing the function of the network device may be a network device; it may also be a device that can support the network device to implement the function, such as a chip system, which may be installed in the network device. In the technical solution provided in the embodiments of the present application, the device for implementing the function of the network device is a network device, and the network device is a base station as an example to describe the technical solution provided in the embodiments of the present application.

[0186] The network devices involved in the embodiments of the present disclosure also include core network (CN) devices. Core network devices refer to devices in the core network that provide service support for terminals. At present, some examples of core network devices are: perception service function entity, access and mobility management function (AMF) entity, session management function (SMF) entity, user plane function (UPF) entity, etc., which are not listed here one by one. Among them, the AMF entity can be responsible for terminal access management and mobility management; the SMF entity can be responsible for session management, such as user session establishment; the UPF entity can be a functional entity of the user plane, mainly responsible for connecting to the external network. The terminal device involved in the embodiments of the present disclosure can also be called a terminal, which can be a device with wireless transceiver function. The terminal device can be a user equipment (UE), wherein the UE includes a handheld device, a vehicle-mounted device, a wearable device or a computing device with wireless communication function. Exemplarily, the UE can be a mobile phone, a tablet computer or a computer with wireless transceiver function. The terminal device may also be a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in telemedicine, a wireless terminal in a smart grid, a wireless terminal in a smart city, a wireless terminal in a smart home, and the like. In an embodiment of the present application, the device for realizing the function of the terminal may be a terminal; or it may be a device that can support the terminal to realize the function, such as a chip system, which may be installed in the terminal. In an embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices. In the technical solution provided in the embodiment of the present application, the device for realizing the function of the terminal is a terminal, and the terminal is a UE as an example to describe the technical solution provided in the embodiment of the present application.

[0187] In summary, in the present disclosure, when the perception management device instructs the scheduler to schedule multiple targets, an importance factor can be specified for each target through the first target ID, so that the scheduler can prioritize the targets. In this way, the perception order of each target is arranged according to business needs, which can meet the needs of business target perception urgency and importance. Additionally, the scheduler can indicate the SNR threshold shared or used separately by each Rx target through the second target ID. Since SNR is related to perception accuracy, a higher SNR can achieve higher perception accuracy. Therefore, by setting a higher SNR threshold for important targets, the accuracy of the perception results of the target can be improved.

[0188] Additionally, after receiving the sensing signal each time, Rx feeds back the second target ID. In addition, for signals above the SNR threshold, ACK and delay, angle, and speed parameter estimation values ​​are fed back. For signals below the threshold, NACK is fed back and power control is indicated. In this way, by feeding back power control information, the scheduler is instructed to increase the transmit power at the next sensing to obtain a more accurate sensing result.

[0189] Additionally, the perception management device configures the perception pipeline list, integrates key scheduling information such as importance factor, Tx-Rx combination, SNR threshold, etc., and uses the pipeline ID as the target ID. In this way, by configuring the perception pipeline, concise information indication is performed between the perception manager, scheduler, and transceiver.

[0190] Fig.13 A flowchart 1300 of a method implemented at a first device according to an embodiment of the present disclosure is shown. In one possible implementation, the method 1300 may be implemented by the first device 110 in the example environment 100. In other possible implementations, the method 1300 may also be implemented by other electronic devices independent of the example environment 100. As an example, the method 1300 will be described below by taking the method 1300 implemented by the first device 110 in the example environment 100 as an example.

[0191] At 1310, the first device 110 receives importance information of one or more perception targets from the second device 120. At 1320, based on the importance information, the first device 110 determines priority information of the one or more perception targets in the perception scheduling, and at 1330, the first device 110 sends scheduling information to at least one of the third device 130 or the fourth device 140. The scheduling information includes first scheduling information or second scheduling information. The first scheduling information is used to schedule the third device to send a perception signal for perceiving the one or more perception targets, and the second scheduling information is used to schedule the fourth device to receive the perception signal.

[0192] In some embodiments, the method further includes: the first device sends at least one reception quality threshold for one or more perception targets to the fourth device, so that the fourth device determines whether to feed back power control information associated with the one or more perception targets to the first device. The power control information is determined based on the at least one reception quality threshold.

[0193] In some embodiments, the at least one reception quality threshold is the same for the one or more perception targets. In some embodiments, the one or more perception targets include a first perception target and a second perception target, and the importance information indicates that the importance of the second perception target is higher than the importance of the first perception target. In addition, the at least one reception quality threshold includes a first reception quality threshold for the first perception target and a second reception quality threshold for the second perception target, and the second reception quality threshold is higher than the first reception quality threshold.

[0194] In some embodiments, determining the priority information includes determining a priority ranking of one or more perception targets in the perception scheduling based on the importance information. In addition, the scheduling information is determined based on the priority ranking; and / or at least one reception quality threshold for one or more perception targets is determined based on the priority ranking.

[0195] In some embodiments, the first device is a perception scheduler device or a first network device configured to perform perception scheduling; the second device is a perception management device or a positioning server configured to perform perception management; the third device is a second network device or a first terminal device; or the fourth device is a third network device or a second terminal device.

[0196] In some embodiments, the first device sending the scheduling information includes: sending the first scheduling information to the third device; and sending the second scheduling information to the fourth device. In some embodiments, the first device and the third device are the same network device or the same terminal device; or the first device and the fourth device are the same network device or the same terminal device. In some embodiments, the first device and the third device are the same network or the same terminal device, and sending the above scheduling information includes sending the second scheduling information to the fourth device. In some embodiments, the first device and the fourth device are the same device, and sending the above scheduling information includes sending the first scheduling information to the third device.

[0197] In some embodiments, the above method also includes the first device receiving at least one of the following from the second device: a first identifier of a perceptual target among one or more perceptual targets; a predicted location of the perceptual target; or a start time and a valid time period corresponding to the predicted location.

[0198] In some embodiments, the first scheduling information includes at least one of the following: a second identifier of the sensing target; a transmit beamforming for the sensing target, the transmit beamforming being determined based on the predicted position; a transmit time-frequency resource for the sensing target, the time-frequency resource being determined based on the start time and the effective time period; or a first transmit power of the sensing signal.

[0199] In some embodiments, the second scheduling information includes at least one of the following: a second identifier of the sensing target; a receiving beamforming for the sensing target, the receiving beamforming being determined based on the predicted position; or a receiving time-frequency resource for the sensing target, the receiving time-frequency resource being determined based on a start time and a valid time period.

[0200] In some embodiments, the above-mentioned importance information is received by receiving perception indication information from a first device, and the perception indication information includes at least one of the following: a third identifier of a perception target among one or more perception targets; importance information associated with the perception target; a perception reception quality threshold for the perception target; a first device identifier associated with the sending of a perception signal; a second device identifier associated with the reception of a perception signal; a predicted position of the perception target; a start time for the perception target; or an effective time period for the perception target.

[0201] In some embodiments, the first scheduling information and the second scheduling information are determined based on the perception indication information, and sending the scheduling information includes at least one of the following: sending the first scheduling information to a third device having a first device identifier; or sending the second scheduling information to a fourth device having a second device identifier.

[0202] In some embodiments, at least one of the first scheduling information or the second scheduling information includes at least one of the following: perception indication information; the third identifier of the perception target; or a reception quality threshold for the perception target.

[0203] In some embodiments, the method further includes receiving first perception information for a first perception target among the one or more perception targets from the fourth device.

[0204] In some embodiments, the first perception information includes: the second identifier or the third identifier of the first perception target; a positive acknowledgement ACK; information related to at least one of the position and speed of the first perception target; and a perception timestamp. In some embodiments, the first perception information includes: the second identifier or the third identifier of the first perception target; a negative acknowledgement NACK; and power control information.

[0205] In some embodiments, the method further includes: the first device sends additional scheduling information to at least one of the third device or the fourth device based on the first perception information, the additional scheduling information including additional first scheduling information or additional second scheduling information. In addition, the additional first scheduling information includes a second transmission power determined based on the power control information.

[0206] In some embodiments, sending the additional scheduling information includes: determining whether a valid time period associated with the first perception target has expired; and sending the additional scheduling information based on that the time period associated with the first perception target has not expired.

[0207] In some embodiments, the method further includes: when the first perception information includes ACK, sending second perception information for one or more perception targets to the second device, so that the second device can determine the perception results of the one or more perception targets. In some implementations, the second perception information includes: the first identifier or the third identifier of the perception target among the one or more perception targets; and information related to at least one of the position and speed of the perception target. In this way, the first device can send the perception / measurement results for one or more perception targets to the second device configured to perform perception management, so that the second device can determine the position, posture, speed, direction of movement, etc. of the one or more perception targets.

[0208] Fig.14 A flowchart 1400 of a method implemented at a second device according to an embodiment of the present disclosure is shown. In one possible implementation, the method 1400 may be implemented by the second device 120 in the example environment 100. In other possible implementations, the method 1400 may also be implemented by other electronic devices independent of the example environment 100. As an example, the method 1400 will be described below by taking the implementation by the second device 120 in the example environment 100 as an example.

[0209] At 1410 , the second device 120 determines importance information of one or more sensing targets, and the importance information is used to determine priority information of the one or more sensing targets in sensing scheduling. At 1420 , the second device 120 sends the importance information to the first device 110 .

[0210] In some embodiments, the method further includes sending at least one of the following to the first device: a first identifier of a perception target among one or more perception targets; a predicted position of the perception target; or a start time and a valid time period corresponding to the predicted position.

[0211] In some embodiments, the above-mentioned importance information is sent by sending perception indication information to the first device, and the perception indication information includes at least one of the following: a third identifier of a perception target among one or more perception targets; importance information associated with the perception target; a perception reception quality threshold for the perception target; a first device identifier associated with the sending of a perception signal; a second device identifier associated with the reception of a perception signal; a predicted position of the perception target; a start time for the perception target; or an effective time period for the perception target.

[0212] In some embodiments, the method further includes: the second device receiving second perception information from the first device; and based on the second perception information, the second device determining the perception result of the one or more perception targets. In some implementations, the first identifier or the third identifier of the perception target in the one or more perception targets; and information related to at least one of the position and speed of the perception target.

[0213] In some embodiments, the first device is a scheduler device or a first network device configured to perform perception scheduling; or the second device is a perception management device or a positioning server configured to perform perception management. In some implementations, the first device and the third device are the same network device or the same terminal device, and the third device is configured to send a perception signal for perceiving the one or more perception targets; or the first device and the fourth device are the same network device or the same terminal device, and the fourth device is configured to receive the perception signal.

[0214] Fig.15 A flowchart 1500 of a method implemented at a third device according to an embodiment of the present disclosure is shown. In one possible implementation, the method 1500 may be implemented by the third device 130 in the example environment 100. In other possible implementations, the method 1500 may also be implemented by other electronic devices independent of the example environment 100. As an example, the method 1500 will be described below by taking the implementation by the third device 130 in the example environment 100 as an example.

[0215] At 1510, the third device 130 obtains first scheduling information, and the first scheduling information schedules the third device to send a perception signal for perceiving one or more perception targets. The priority information of the one or more perception targets in the perception scheduling is determined based on the importance information of the one or more perception targets. At 1520, the third device 130 sends the perception signal to the one or more perception targets based on the first scheduling information.

[0216] In some embodiments, obtaining the first scheduling information includes receiving the first scheduling information from a first device. In some embodiments, the first device is a scheduler device or a first network device configured to perform perception scheduling; or the third device is a second network device or a first terminal device. In some implementations, the first device and the third device are the same network device or the same terminal device; or the first device and the fourth device are the same network device or the same terminal device, and the fourth device is configured to receive a perception signal for perceiving the one or more perception targets.

[0217] In some embodiments, the first scheduling information includes at least one of the following: a second identifier of a perception target among the one or more perception targets; a transmit beamforming for a perception target among the one or more perception targets, the transmit beamforming being determined based on the predicted position of the perception target; a transmit time-frequency resource for the perception target, the time-frequency resource being determined based on the start time and effective time period for the perception target; or a first transmit power of a perception signal.

[0218] In some embodiments, the first scheduling information is determined based on the perception indication information, and the perception indication information includes at least one of the following: a third identifier of a perception target among the one or more perception targets mentioned above; importance information associated with the perception target; a perception reception quality threshold for the perception target; a first device identifier associated with the sending of a perception signal; a second device identifier associated with the reception of a perception signal; a predicted position of the perception target; a start time for the perception target; or a valid time period for the perception target.

[0219] In some embodiments, the first scheduling information includes at least one of the following: perception indication information; the third identifier of the perception target; or a reception quality threshold for the perception target.

[0220] In some embodiments, the method also includes: receiving additional first scheduling information from the first device, wherein the additional first scheduling information includes a second transmit power, and the second transmit power is determined based on power control information sent by a third device to the first device, and the third device is configured to receive the perception signal; and based on the additional scheduling information, sending a perception signal for perceiving the target.

[0221] Fig.16A flowchart 1600 of a method implemented at a fourth device according to an embodiment of the present disclosure is shown. In one possible implementation, the method 1600 may be implemented by the fourth device 140 in the example environment 100. In other possible implementations, the method 1600 may also be implemented by other electronic devices independent of the example environment 100. As an example, the method 1600 will be described below by taking the method 1600 implemented by the fourth device 140 in the example environment 100 as an example.

[0222] At 1610, the fourth device 140 obtains second scheduling information. The second scheduling information schedules the fourth device to receive a perception signal for perceiving one or more perception targets, and priority information of the one or more perception targets in the perception scheduling is determined based on importance information of the one or more perception targets. At 1620, the fourth device 140 receives the perception signal based on the second scheduling information.

[0223] In some embodiments, obtaining the second scheduling information includes receiving the second scheduling information from a first device. In some embodiments, the first device is a scheduler device or a first network device configured to perform perception scheduling; and / or the fourth device is a third network device or a second terminal device. In some implementations, the first device and the fourth device are the same network device or the same terminal device; or the first device and the third device are the same network device or the same terminal device, and the third device is configured to send a perception signal for perceiving the one or more perception targets.

[0224] In some embodiments, the method also includes: receiving at least one reception quality threshold for one or more perception targets from the first device, so that the fourth device determines whether to feed back power control information associated with the one or more perception targets to the first device, and the power control information is determined based on the at least one reception quality threshold.

[0225] In some embodiments, the at least one reception quality threshold is the same for the one or more perception targets. In some embodiments, the one or more perception targets include a first perception target and a second perception target, and the importance information indicates that the importance of the second perception target is higher than the importance of the first perception target. In addition, the at least one reception quality threshold includes a first reception quality threshold for the first perception target and a second reception quality threshold for the second perception target, and the second reception quality threshold is higher than the first reception quality threshold.

[0226] In some embodiments, the method further includes: determining, by a fourth device, first perception information for a first perception target among the one or more perception targets based on the received perception signal; and sending the first perception information to the first device by the fourth device.

[0227] In some embodiments, the fourth device determines the first perception information includes: the fourth device determines whether the received signal-to-noise ratio associated with the first perception target is higher than a reception quality threshold, wherein the reception quality threshold is the same at least one reception quality threshold as described above or the first reception quality threshold for the first perception target. In some implementations, the fourth device determines the first perception information further includes, based on determining that the signal-to-noise ratio associated with the first perception target is greater than or equal to the reception quality threshold, including the following items in the first perception information: a second identifier or a third identifier of the first perception target; a positive acknowledgment ACK; information related to at least one of the position and speed of the first perception target; and a perception timestamp.

[0228] In some embodiments, the fourth device determines that the first perception information also includes, based on determining that the signal-to-noise ratio associated with the first perception target is less than a reception quality threshold, including the following items in the first perception information: a second identifier or a third identifier of the first perception target; a negative acknowledgement NACK; and power control information.

[0229] In some embodiments, the method further includes: the fourth device receiving additional second scheduling information from the first device; and the fourth device receiving a signal for sensing the first sensing target based on the additional second scheduling information.

[0230] In some embodiments, the second scheduling information includes at least one of the following: a second identifier of a perception target among the one or more perception targets mentioned above; a receiving beamforming for the perception target, the receiving beamforming being determined based on the predicted position of the perception target; or a receiving time-frequency resource for the perception target, the receiving time-frequency resource being determined based on the start time and effective time period of the perception target.

[0231] In some embodiments, the second scheduling information is determined based on the perception indication information, and the perception indication information includes at least one of the following: a third identifier of a perception target among one or more perception targets; importance information associated with the perception target; a perception reception quality threshold for the perception target; a first device identifier associated with the sending of a perception signal; a second device identifier associated with the reception of a perception signal; a predicted position of the perception target; a start time for the perception target; or a valid time period for the perception target.

[0232] In some embodiments, the second scheduling information includes at least one of the following: perception indication information; the third identifier of the perception target; or a reception quality threshold for the perception target.

[0233] Fig.17 and Fig.18A schematic diagram of the structure of a possible communication device provided for an embodiment of the present application. These communication devices can implement the functions of the sensing device or server device in the above method embodiment, and thus can also achieve the beneficial effects possessed by the above method embodiment. In an embodiment of the present application, the communication device can be any network element device or terminal device as shown in Figure 1, and can also be a module (such as a chip) applied to the device.

[0234] like Fig.17 As shown, the communication device 1700 includes a transceiver module 1701 and a processing module 1702. The communication device 1700 is used to implement the above-mentioned FIG. Fig.16 The functions of the first device, the second device, the third device and the fourth device in the embodiment shown.

[0235] like Fig.18 The communication device 1800 includes a processor 1810 and an interface circuit 1820. The processor 1810 and the interface circuit 1820 are coupled to each other. It is understood that the interface circuit 1820 can be a transceiver or an input-output interface. Optionally, the communication device 1800 may also include a memory 1830 for storing instructions executed by the processor 1810 or storing input data required by the processor 1810 to execute instructions or storing data generated after the processor 1810 executes instructions.

[0236] When the communication device 1800 is used to implement the method in the above method embodiment, the processor 1810 is used to execute the function of the above processing module 1702, and the interface circuit 1820 is used to execute the function of the above transceiver module 1701.

[0237] When the above communication device is a chip applied to a terminal device, the terminal device chip implements the functions of the terminal device in the above method embodiment. The terminal device chip receives information from other modules in the terminal device (such as a radio frequency module or an antenna), and the information is sent by the network device to the terminal device; or the terminal device chip sends information to other modules in the terminal device (such as a radio frequency module or an antenna), and the information is sent by the terminal device to the network device.

[0238] When the above communication device is a chip applied to a network device, the network device chip implements the function of the network device in the above method embodiment. The network device chip receives information from other modules in the network device (such as a radio frequency module or an antenna), and the information is sent by the terminal device to the network device; or the network device chip sends information to other modules in the network device (such as a radio frequency module or an antenna), and the information is sent by the network device to the terminal device.

[0239] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0240] When the device in the embodiment of the present application is a network device (for example, a server device), the device can be as follows: Fig.19 The device may include one or more radio frequency units, such as a remote radio unit (RRU) 1910 and one or more baseband units (BBU) (also referred to as digital units, digital units, DU) 1920. The RRU 1910 may be referred to as a transceiver module, which may include a transmitting module and a receiving module, or the transceiver module may be a module capable of transmitting and receiving functions. The transceiver module may be connected to Fig. 9 The RRU 1910 corresponds to the transceiver module 901 in the figure, that is, it can execute the actions executed by the transceiver module 1701. Optionally, the transceiver module can also be called a transceiver, a transceiver circuit, or a transceiver, etc., which may include at least one antenna 1911 and a radio frequency unit 1912. The RRU 1910 part is mainly used for receiving and transmitting radio frequency signals and converting radio frequency signals into baseband signals. The BBU 1910 part is mainly used for baseband processing, controlling the base station, etc. The RRU 1910 and the BBU 1920 can be physically set together or physically separated, that is, a distributed base station.

[0241] The BBU 1920 is the control center of the base station, which can also be called a processing module. Fig.17 The processing module 1702 in the embodiment corresponds to the processing module 1703, and is mainly used to complete baseband processing functions, such as channel coding, multiplexing, modulation, spread spectrum, etc. In addition, the processing module can execute the actions executed by the processing module 1702. For example, the BBU (processing module) can be used to control the base station to execute the operation flow of the network device in the above method embodiment.

[0242] In one example, the BBU 1920 may be composed of one or more single boards, and multiple single boards may jointly support a wireless access network of a single access standard (such as an LTE network), or may respectively support wireless access networks of different access standards (such as an LTE network, a 5G network, or other networks). The BBU 1920 also includes a memory 1921 and a processor 1922. The memory 1921 is used to store necessary instructions and data. The processor 1922 is used to control the base station to perform necessary actions, such as controlling the base station to execute the operation process of the network device in the above method embodiment. The memory 1921 and the processor 1922 can serve one or more single boards. In other words, a memory and a processor may be separately set on each single board. It is also possible that multiple single boards share the same memory and processor. In addition, necessary circuits may also be set on each single board.

[0243] The present application embodiment provides a communication system. The communication system may include the above Figures 2 to 16 Optionally, the network management device in the communication system may execute Figures 2 to 16 Any of the communication methods shown in .

[0244] The present application also provides a circuit that can be coupled to a memory and can be used to execute a process related to a terminal device or a network device in any of the above method embodiments. The chip system may include the chip and other components such as a memory or a transceiver.

[0245] It should be understood that the processor mentioned in the embodiments of the present application may be a CPU, or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0246] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (doubledatarate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM), and direct rambus RAM (DR RAM).

[0247] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) is integrated in the processor.

[0248] It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0249] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0250] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0251] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0252] In the several embodiments provided in the present application, it should be understood that the disclosed communication methods and devices can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the module is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0253] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0254] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0255] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or the part that makes the contribution or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method in each embodiment of the present application. The aforementioned computer-readable storage medium can be any available medium that can be accessed by a computer. By way of example but not limitation, computer-readable media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), universal serial bus flash disk, mobile hard disk, or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer.

[0256] As used herein, the term "including" and similar terms should be understood as open inclusion, i.e., "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. can refer to different or identical objects, and are only used to distinguish the objects referred to, without implying a specific spatial order, temporal order, order of importance, etc. of the objects referred to. In some embodiments, values, processes, selected items, determined items, equipment, devices, means, components, assemblies, etc. are referred to as "best", "lowest", "highest", "minimum", "maximum", etc. It should be understood that such descriptions are intended to indicate that a selection can be made among many available functional options, and such selections do not need to be better, lower, higher, smaller, larger or otherwise preferred than other options in other aspects or all aspects. As used herein, the term "determine" can cover a variety of actions. For example, "determine" can include calculation, calculation, processing, export, investigation, search (e.g., search in a table, database or another data structure), ascertainment, etc. Additionally, "determining" may include receiving (eg, receiving information), accessing (eg, accessing data in a memory), etc. Furthermore, "determining" may include resolving, selecting, choosing, establishing, etc.

[0257] The above is only a specific implementation of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or replacements within the technical scope disclosed in the embodiments of the present application, which should be included in the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application shall be based on the protection scope of the claims.

Claims

1. A perception scheduling method, comprising: At the first device, receiving importance information of one or more perception targets from the second device; Based on the importance information, determining priority information of the one or more sensing targets in sensing scheduling; as well as Based on the priority information, scheduling information is sent to at least one of the third device or the fourth device, wherein the scheduling information includes first scheduling information or second scheduling information, the first scheduling information is used to schedule the third device to send a perception signal for perceiving the one or more perception targets, and the second scheduling information is used to schedule the fourth device to receive the perception signal.

2. The method according to claim 1, further comprising: At least one reception quality threshold for the one or more perception targets is sent to the fourth device, so that the fourth device determines whether to feed back power control information associated with the one or more perception targets to the first device, wherein the power control information is determined based on the at least one reception quality threshold.

3. The method according to claim 1 or 2, wherein at least one of the following: The first device is a perceptual scheduler device or a first network device configured to perform perceptual scheduling; The second device is a perception management device or a positioning server configured to perform perception management; The third device is a second network device or a first terminal device; The fourth device is a third network device or a second terminal device; The first device and the third device are the same network device or the same terminal device; or The first device and the fourth device are the same network device or the same terminal equipment.

4. The method according to any one of claims 1 to 3, wherein sending the scheduling information comprises: sending the first scheduling information to the third device; as well as The second scheduling information is sent to the fourth device.

5. The method according to any one of claims 1 to 3, wherein the first device and the third device are the same device, and wherein sending the scheduling information to the at least one of the third device or the fourth device comprises: The second scheduling information is sent to the fourth device.

6. The method according to any one of claims 1 to 3, wherein the first device and the fourth device are the same device, and wherein sending the scheduling information to the at least one of the third device or the fourth device comprises: The first scheduling information is sent to the third device.

7. The method according to any one of claims 1 to 6, further comprising receiving at least one of the following from the second device: a first identifier of a perception target among the one or more perception targets; the predicted position of the perceived target; or The starting time and valid time period corresponding to the predicted position.

8. The method according to claim 7, wherein the first scheduling information comprises at least one of the following: a second identifier of the sensing target; transmit beamforming for the sensing target, the transmit beamforming being determined based on the predicted position; A transmission time-frequency resource for the perception target, the time-frequency resource being determined based on the start time and the effective time period; or A first transmitting power of the sensing signal.

9. The method according to claim 7, wherein the second scheduling information comprises at least one of the following: a second identifier of the sensing target; receive beamforming for the sensing target, the receive beamforming being determined based on the predicted position; or A receiving time-frequency resource for the sensing target, wherein the receiving time-frequency resource is determined based on the start time and a valid time period.

10. The method according to any one of claims 1 to 9, wherein the importance information is received by receiving perception indication information from the first device, and the perception indication information includes at least one of the following: a third identifier of a perception target among the one or more perception targets; importance information associated with the perceived target; a perceived reception quality threshold for the perceived target; a first device identifier associated with sending the perception signal; a second device identification associated with receipt of the perception signal; a predicted position of the sensed target; a starting time for the perception target; or The effective time period for the sensing target.

11. The method according to any one of claims 1 to 10, further comprising: First perception information for a first perception target among the one or more perception targets is received from the fourth device.

12. The method according to claim 11, wherein the first perception information comprises: a second identifier or a third identifier of the first perception target; Affirmation ACK; information related to at least one of a position and a velocity of the first sensing target; as well as Aware timestamp.

13. The method according to claim 11, wherein the first perception information comprises: a second identifier or a third identifier of the first sensing target, wherein the second identifier is maintained by the first device, and the third identifier is common among the first device, the second device, the third device, and the fourth device; Negative acknowledgement NACK; and Power control information.

14. A perceptual scheduling method, comprising: At the second device, determining importance information of one or more perception targets, wherein the importance information is used to determine priority information of the one or more perception targets in perception scheduling; as well as The importance information is sent to the first device.

15. The method of claim 14, further comprising sending at least one of the following to the first device: a first identifier of a perception target among the one or more perception targets; the predicted position of the perceived target; or The starting time and valid time period corresponding to the predicted position.

16. The method according to claim 14 or 15, wherein the importance information is sent by sending perception indication information to the first device, and the perception indication information includes at least one of the following: a third identifier of a perception target among the one or more perception targets; importance information associated with the perceived target; a perceived reception quality threshold for the perceived target; a first device identifier associated with sending the perception signal; a second device identification associated with receipt of the perception signal; a predicted position of the sensed target; a starting time for the perception target; or The effective time period for the sensing target.

17. The method according to any one of claims 14 to 16, wherein at least one of the following: The first device is a scheduler device or a first network device configured to perform aware scheduling; The second device is a sensing management device or a positioning server configured to perform sensing management; or The first device and the third device are the same network device or the same terminal device, and the third device is configured to send a sensing signal for sensing the one or more sensing targets; or The first device and the fourth device are the same network device or the same terminal device, and the fourth device is configured to receive the perception signal.

18. A perceptual scheduling method, comprising: Obtaining first scheduling information at a third device, wherein the first scheduling information schedules the third device to send a sensing signal for sensing one or more sensing targets, wherein priority information of the one or more sensing targets in the sensing scheduling is determined based on importance information of the one or more sensing targets; as well as Based on the first scheduling information, the perception signal is sent to the one or more perception targets. The method of claim 18 , wherein obtaining the first scheduling information comprises receiving the first scheduling information from a first device.

20. The method of claim 32, wherein at least one of the following: The first device is a scheduler device or a first network device configured to perform aware scheduling; The third device is a second network device or a first terminal device; The first device and the third device are the same network device or the same terminal device; or The first device and the fourth device are the same network device or the same terminal device, and the fourth device is configured to receive a perception signal for perceiving the one or more perception targets.

21. The method according to any one of claims 18 to 20, wherein the first scheduling information comprises at least one of the following: a second identifier of a perception target among the one or more perception targets; a transmit beamforming for a sensing target among the one or more sensing targets, the transmit beamforming being determined based on a predicted position of the sensing target; a transmission time-frequency resource for the perception target, the time-frequency resource being determined based on a start time and a valid time period for the perception target; or A first transmitting power of the sensing signal.

22. The method according to claim 18 or 21, wherein the first scheduling information is determined based on perception indication information, and the perception indication information comprises at least one of the following: a third identifier of a perception target among the one or more perception targets; importance information associated with the perceived target; a perceived reception quality threshold for the perceived target; a first device identifier associated with sending the perception signal; a second device identification associated with receipt of the perception signal; a predicted position of the sensed target; a starting time for the perception target; or The effective time period for the sensing target.

23. A perceptual scheduling method, comprising: obtaining second scheduling information at a fourth device, wherein the second scheduling information schedules the fourth device to receive a sensing signal for sensing one or more sensing targets, wherein priority information of the one or more sensing targets in the sensing scheduling is determined based on importance information of the one or more sensing targets, and the first device is configured to perform the sensing scheduling; as well as Based on the second scheduling information, the perception signal is received. The method of claim 23 , wherein obtaining the second scheduling information comprises receiving the second scheduling information from a first device.

25. The method according to claim 23 or 24, wherein at least one of the following: The first device is a scheduler device or a first network device configured to perform aware scheduling; The fourth device is a third network device or a second terminal device; The first device and the fourth device are the same network device or the same terminal device; or The first device and the third device are the same network device or the same terminal device, and the third device is configured to send a perception signal for perceiving the one or more perception targets.

26. The method according to any one of claims 23 to 25, further comprising: At least one reception quality threshold for the one or more perception targets is received from the first device, so that the fourth device determines whether to feed back power control information associated with the one or more perception targets to the first device, wherein the power control information is determined based on the at least one reception quality threshold.

27. The method according to any one of claims 23 to 26, further comprising: Determine first perception information for a first perception target among the one or more perception targets based on the received perception signal; as well as The first perception information is sent to the first device.

28. The method of claim 27, wherein determining the first sensory information comprises: A determination is made as to whether a received signal-to-noise ratio associated with the first perceived objective is above a reception quality threshold, wherein the reception quality threshold is the same at least one reception quality threshold or a first reception quality threshold for the first perceived objective.

29. The method of claim 27, wherein determining the first perception information further comprises, based on determining that the signal-to-noise ratio associated with the first perception target is greater than or equal to the reception quality threshold, including the following items in the first perception information: a second identifier or a third identifier of the first perception target; Affirmation ACK; information related to at least one of a position and a velocity of the first sensing target; as well as Aware timestamp.

30. The method of claim 27, wherein determining the first perception information further comprises, based on determining that a signal-to-noise ratio associated with the first perception target is less than the reception quality threshold, including in the first perception information: a second identifier or a third identifier of the first perception target; Negative acknowledgement NACK; and Power control information.

31. The method according to any one of claims 23 to 30, wherein the second scheduling information is determined based on perception indication information, and the perception indication information comprises at least one of the following: a third identifier of a perception target among the one or more perception targets; importance information associated with the perceived target; a perceived reception quality threshold for the perceived target; a first device identifier associated with sending the perception signal; a second device identification associated with receipt of the perception signal; a predicted position of the sensed target; a starting time for the perception target; or The effective time period for the sensing target.

32. A communication device, comprising a processor and a memory storing instructions, wherein when the instructions are executed by the processor, the electronic device executes the method according to any one of claims 1-13, claims 14-17, claims 18-22 or claims 23-31.

33. A communication system, comprising at least one of a first device, a second device, a third device and a fourth device, wherein the first device is configured to perform a method according to any one of claims 1-13, the second device is configured to perform a method according to any one of claims 14-17, the third device is configured to perform a method according to any one of claims 18-22, and the fourth device is configured to perform a method according to any one of claims 23-31.

34. A computer-readable storage medium storing instructions which, when executed by an electronic device, cause the electronic device to perform a method according to any one of claims 1 to 13, claims 18 to 22, claims 23 to 31, or claims 23 to 31.

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