Perception collaboration method, device and program product

Abstract

The invention provides a perception cooperation method and device and a program product, relates to the technical field of communication, and is used for perfecting a perception mechanism and improving perception performance. The method comprises the following steps: sending perception cooperation request information to a perception cooperation node; and receiving feedback information of the sensing cooperation request information sent by the sensing cooperation node.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technology, and in particular to a perception collaboration method, device, and program product. Background Art

[0002] The communication and perception integrated network architecture is a system architecture that supports wireless communication and wireless perception functions, services and applications. The mobile communication system consists of two major parts: the network and the terminal, and has overall characteristics such as centralized, hierarchical, tree-like, and cellular. However, perception systems such as radar remote sensing do not have the concept of network and terminal, and there is no standardized and unified architecture and paradigm. In order to achieve communication and perception integration, the perception system architecture, functional modules, processes, etc. need to be matched with the communication system. The time and frequency domain resources used by the perception signal form a competitive or multiplexing relationship with the communication signal. When the perceived target moves in the cellular network and crosses different communication nodes, how to maintain the perception performance of the target requires the introduction of a complete collaboration mechanism between different perception nodes. Summary of the invention

[0003] The embodiments of the present disclosure provide a perception collaboration method, device, and program product for improving the perception mechanism and enhancing the perception performance. The technical solutions provided by the embodiments of the present disclosure are as follows: In one aspect, a perceptual collaboration method is provided, the method comprising: Sending a sensing cooperation request message to the sensing cooperation node; Receive feedback information of the sensing cooperation request information sent by the sensing cooperation node.

[0004] In another aspect, a perceptual collaboration method is provided, the method comprising: receiving sensing collaboration request information; Send feedback information of the perceived collaboration request information.

[0005] In another aspect, a perception cooperation device is provided, the device comprising: A first communication module, used to send perception cooperation request information to the perception cooperation node; The second communication module is used to receive feedback information of the perception cooperation request information sent by the perception cooperation node.

[0006] In another aspect, a perception cooperation device is provided, the device comprising: A third communication module is used to receive the sensing collaboration request information; The fourth communication module is used to send feedback information of the perceived collaboration request information.

[0007] On the other hand, a communication device is provided, comprising: a memory and a processor; the memory and the processor are coupled; the memory is used to store computer program instructions executable by the processor; and the processor implements the perceptual collaboration method of any of the above embodiments when executing the computer program instructions.

[0008] On the other hand, a computer-readable storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed on a computer (such as a communication device or a perceptual collaboration device), the perceptual collaboration method of any of the above embodiments is implemented.

[0009] On the other hand, a computer program product is provided, which includes computer program instructions, and when the computer program instructions are executed, the perceptual collaboration method of any of the above embodiments is implemented.

[0010] The technical solution provided by the embodiment of the present disclosure sends a perception collaboration request message to the perception collaboration node, and receives feedback information of the perception collaboration request message sent by the perception collaboration node. Among them, the perception collaboration request message is helpful to assist the perception collaboration node to better perform perception collaboration under the condition of understanding the actual perception needs. Similarly, the perception collaboration node can also provide its own actual perception situation in the perception collaboration process through feedback information, so as to better perform perception collaboration. The embodiment of the present disclosure improves the perception collaboration mechanism and realizes a more accurate perception of the target and meets the actual needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure; Figure 2 A flowchart of a perception collaboration method provided by an embodiment of the present disclosure; Figure 3 A schematic diagram of an application scenario of a perception collaboration method provided by an embodiment of the present disclosure; Figure 4 An interactive flow chart of a perception collaboration method provided by an embodiment of the present disclosure; Figure 5 A schematic diagram of another application scenario of the perception collaboration method provided by an embodiment of the present disclosure; Figure 6 A schematic diagram of another application scenario of the perception collaboration method provided by an embodiment of the present disclosure; Figure 7 An interactive flow chart of another perception collaboration method provided by an embodiment of the present disclosure; Figure 8 A schematic diagram of another application scenario of the perception collaboration method provided by an embodiment of the present disclosure; Fig. 9An interactive flow chart of another perception collaboration method provided by an embodiment of the present disclosure; Fig.10 A flowchart of another perception collaboration method provided by an embodiment of the present disclosure; Fig.11 A schematic diagram of the structure of a perception cooperation device provided in an embodiment of the present disclosure; Fig.12 A schematic diagram of the structure of another sensing and cooperation device provided in an embodiment of the present disclosure; Fig.13 A schematic diagram of the structure of a communication device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0013] In the description of the present disclosure, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one" means one or more, and "plurality" means two or more. The words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not limit them to be different.

[0014] It should be noted that in the present disclosure, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present disclosure should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0015] In the existing wireless communication network deployment, there are both low-frequency base stations and high-frequency base stations. Similarly, there are also deployments of low-frequency sensing units and high-frequency sensing sites. The following is a detailed description of different frequency band sensing and its application advantages.

[0016] Low-frequency sensing uses the FR1 band (<6GHz), covering 450MHz to 6GHz (Sub-6GHz), which is a low-frequency band with a longer wavelength (for example, 3.5GHz corresponds to a wavelength of about 8.6cm). Its signal has strong penetration and wide-area coverage, and is suitable for wide-range environmental sensing.

[0017] The FR2 frequency band covers 24 GHz to 52.6 GHz (millimeter wave band), with a very short wavelength (e.g. 28 GHz corresponds to a wavelength of about 10.7 mm). The signal is easily attenuated by obstacles, but it has a large bandwidth (single carrier can reach 400 MHz) and high spatial resolution, which is suitable for high-precision local perception.

[0018] The terahertz (THz) frequency band is an electromagnetic wave between 0.1THz and 10THz, corresponding to a wavelength range of approximately 3mm to 30 microns. This frequency band is between microwaves and infrared light, and its characteristics in sensing applications include: high-resolution imaging (shorter wavelengths can provide higher spatial resolution than microwaves, while still having a certain degree of penetration, suitable for security inspections, non-destructive testing, etc.), material identification capabilities (THz waves can resonate and absorb with many molecules, which enables it to be used to identify the composition of specific substances).

[0019] In view of this, the present disclosure provides a perception collaboration method, which includes: sending perception collaboration request information to a perception collaboration node; receiving feedback information of the perception collaboration request information sent by the perception collaboration node. Among them, the perception collaboration request information is helpful to assist the perception collaboration node to better perform perception collaboration under the condition of understanding the actual perception needs. Similarly, the perception collaboration node can also provide its own actual perception situation in the perception collaboration process through feedback information, so as to better perform perception collaboration. The embodiment of the present disclosure improves the perception collaboration mechanism to achieve more accurate perception of the target and meet actual needs.

[0020] In some embodiments, transmission in the present disclosure includes sending or receiving, such as sending data or signals, or receiving data or signals.

[0021] In the present disclosure, the expressions "perceived collaboration" and "cooperative perception" have the same meaning and can be replaced with each other.

[0022] The perception cooperation method provided in the embodiment of the present disclosure can be applied to systems of various communication formats. For example, the perception cooperation method provided in the embodiment of the present disclosure can be applied to systems including, but not limited to, long term evolution (LTE) systems, various versions based on LTE evolution, fifth generation (5G) communication systems, wireless local area network (Wi-Fi) systems, third generation partnership project (3GPP) related communication systems, ambient internet of things (Ambient IoT) systems, or systems integrating multiple systems. In addition, the perception cooperation method provided in the embodiment of the present disclosure can also be applied to future-oriented communication systems (such as 6G, 7G communication systems), etc., which are not limited by the embodiment of the present disclosure.

[0023] See also Figure 1 , is a schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure. Figure 1 As shown, the communication system includes: a perception control node 110, a first perception unit 120, a second perception unit 130 and a target 140.

[0024] The perception control node 110 is used to perform perception management and process perception data. The perception function control entity may also be referred to as a perception control node.

[0025] In some embodiments, the perception control node 110 may be deployed in integration with network elements of an existing core network; or, may be independently deployed in the core network.

[0026] In some embodiments, the perception control node 110 may be deployed in integration with network elements of an existing access network; or, may be independently deployed in the access network.

[0027] In some embodiments, the perception control node 110 performs a signaling interaction process with the first perception unit 120 and / or the second perception unit 130 through an interface between the core network and the access network.

[0028] In some embodiments, the first sensing unit 120 is configured to receive a sensing signal configuration sent by the sensing control node 110, and perform sensing detection on the target 140 based on the sensing signal configuration.

[0029] In some embodiments, the second perception unit 130 is used to receive a message sent by the perception control node 110 or the first perception unit 120, and perform collaborative perception detection on the target 140 based on the message.

[0030] In some embodiments, the perception control node 110 includes a perception function control entity 111 and a perception data processing server 112, wherein the perception function control entity 111 is responsible for controlling the perception unit in the wireless network, and the perception data processing server 112 is used to parse, fuse, and process perception measurement data; the two can be deployed independently or combined.

[0031] In some embodiments, the perception function control entity 111 can perform perception control on the first perception unit 120 and the second perception unit 130 , and the perception data processing server 112 can receive perception data sent by the first perception unit 120 and the second perception unit 130 .

[0032] In some embodiments, the first sensing unit 120 and the second sensing unit 130 are respectively deployed in the communication node A and the communication node B of the access network. The communication node A and the communication node B can perform signaling interaction through the access network interface, the base station interface, the centralized unit (CU), the distributed unit (DU) interface, and the air interface.

[0033] In some embodiments, the first sensing unit 120 and the second sensing unit 130 each include a sensing control module and a data processing module.

[0034] Exemplarily, the first perception unit 120 includes a first perception control module 121 and a first data processing module 122 , and the second perception unit 130 includes a second perception control module 131 and a second data processing module 132 .

[0035] The perception function control entity 111 can perform perception control on the first perception control module 121 and the second perception control module 131, so that the first perception control module 121 and the second perception control module 131 send a perception signal to the target 140. The first data processing module 122 and the second data processing module 132 can upload the original perception data to the perception data processing server 112 for processing according to the needs of the perception service, or perform preliminary analysis and feature extraction on the perception data and upload the processed data to the perception data processing server 112 for subsequent processing.

[0036] The second perception control module 131 may receive a message sent by the first perception control module 121, and based on the message, perform collaborative perception on the target 140. The first data processing module 122 and the second data processing module 132 may interact with each other in perception data.

[0037] In some embodiments, the communication node of the access network may be a base station (eg, BS / gNB), a relay node, or an integrated broadband access (IBA) node.

[0038] It should be noted that the forms of the communication nodes of the above-mentioned access network are only some examples given in the embodiments of the present disclosure. Based on different actual scenarios and perceived business requirements, the communication nodes may also have other implementation forms, which are not limited in the embodiments of the present disclosure.

[0039] In some embodiments, the above-mentioned base station can be a base station or an evolved base station (eNB or eNodeB) in LTE, long term evolution advanced (LTEA), a base station device in a 5G network, or a base station in a future communication system, etc. The base station may include various macro base stations, micro base stations, home base stations, wireless remote stations, reconfigurable intelligent surfaces (RISs), routers, relays, transmission reception points (TRP), wireless fidelity (WIFI) devices, user equipment (UE) and other network side devices. The embodiments of the present disclosure are not limited to this.

[0040] In some embodiments, the target 140 may be a terminal, an IoT device, etc., which is not limited in the embodiments of the present disclosure.

[0041] In some embodiments, the terminal may be a mobile phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. The embodiments of the present disclosure do not limit the application scenarios. The terminal may sometimes also be referred to as a user, UE, access terminal, UE unit, UE station, mobile station, mobile station, remote station, remote terminal, mobile device, UE terminal, wireless communication device, UE agent or UE device, etc., which is not limited in the embodiments of the present disclosure.

[0042] It should be noted that Figure 1 This is just an exemplary framework diagram. Figure 1 The number of devices included in the Figure 1 In addition to the devices shown, the communication system may also include other devices, such as core network devices, which is not limited in the present disclosure.

[0043] The application scenarios of the embodiments of the present disclosure are not limited. The system architecture and business scenarios described in the embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. It is known to those skilled in the art that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0044] The present disclosure provides a method for perceptual collaboration. Figure 2 As shown, the method comprises the following steps: S101. Sending a perception cooperation request message to a perception cooperation node.

[0045] Among them, the perception collaboration request information includes at least one of the following: collaboration type, collaboration requirement priority, collaboration perception data acquisition mode, collaboration perception data transmission target, collaboration perception area spatial information, wide-area perception environment characteristic map, collaboration perception indicator requirements, collaboration perception time information, perception time domain resource configuration information of the perception collaboration node, perception frequency domain resource configuration information of the perception collaboration node, and interference control information.

[0046] In the present disclosure, the perception collaboration request information has other names, such as perception collaboration requirement information, perception collaboration requirement, etc., and the present disclosure does not limit this.

[0047] In some embodiments, the collaboration type includes at least one of the following: Improve perception indicators; Fill in the blind spots of perception; Improve the type of perceived indicators; Improve the amplitude of perception indicators; Perceiving frequency domain requirements; Requirements for the increase in perceived frequency points; The requirements for the increase in perceived bandwidth; Requirements for improvement in perceived duration; Refinement amplitude requirements of sensing beam width; Adopt first grid perception; Local / omnidirectional airspace awareness collaboration; Ground perception collaboration / low-altitude perception collaboration; Limited time / temporary perceived collaboration; Periodic sensing collaboration.

[0048] In some embodiments, the perception indicator type includes at least one of the following: perception accuracy, position resolution, altitude resolution, speed resolution, perception data refresh rate, target detection rate, confidence, and false alarm rate.

[0049] In some embodiments, sensing frequency domain requirements includes FR2 frequency domain sensing and / or terahertz frequency domain sensing.

[0050] In some embodiments, the collaboration requirement priority includes at least one of the following: The priority of users whose sensing services require sensing collaboration; Perceived business-private priorities that require perceived collaboration; Prioritization of perceived business quality of service (QoS) standards that require perceived collaboration; The priority of sensing services that require sensing cooperation relative to communication services.

[0051] In some embodiments, the acquisition mode of the collaborative sensing data includes at least one of the following: After the collaboration begins, the perception data is continuously fed back; After the collaboration begins, the sensing data is fed back on demand. In some embodiments, the sensing data is fed back according to the real-time requirements of the sensing collaboration initiating node or the sensing control node.

[0052] In some embodiments, the transmission target of the cooperative sensing data includes at least one of the following: The Internet Protocol (IP) address of the target; The target's data processing node identifier (ID) can be used for collaborative sensing data fusion processing.

[0053] In some embodiments, the collaborative sensing area spatial information includes at least one of the following: a) Perception coordinate range. For example, it includes the horizontal coordinate range of the cooperative perception target area, such as the length and width of the coordinate range is limited to between 100 meters and 0.01 meters.

[0054] b) Perception altitude range. For example, it includes ground perception range, ultra-low altitude perception range and ultra-low altitude perception range, such as ground perception range: 0m~10m; ultra-low altitude perception range: 10m~100m; low altitude perception range: 100m~3000m.

[0055] c) Perception beam range. For example, it includes the range defined by matching the high-frequency domain perception unit capability, such as the horizontal beam width range: 1 degree to 10 degrees, and the vertical beam width range: 1 degree to 20 degrees.

[0056] d) The type of the first grid.

[0057] e) identification information of the first grid (eg, the range to which the identification of the first grid belongs).

[0058] f) Coordinates of the first grid, including, for example, the center coordinates of the first grid.

[0059] g) The extent of the first grid.

[0060] In some embodiments, the range of the first grid includes at least one of the following: The horizontal size range of the collaborative sensing area corresponding to the first grid; A vertical size range of the collaborative sensing area corresponding to the first grid; The horizontal size range of the first grid; The vertical size range of the first grid.

[0061] For example, the size range of the horizontal plane / vertical plane of the first grid matches the size range of the horizontal plane / vertical plane defined by the capability of the high-frequency domain perception unit.

[0062] It can be understood that the use of the first grid perception can be called refined grid perception, and the first grid can be called a refined grid, which improves the accuracy and effect of network perception through finer-grained grid division.

[0063] In the present disclosure, the granularity of the first grid is smaller than that of the second grid, that is, the horizontal size of the first grid is smaller than the horizontal size of the second grid, or the vertical size of the first grid is smaller than the vertical size of the second grid. The horizontal range or vertical range of the first grid can be accurate to 100 meters to 0.01 meters.

[0064] For example, the horizontal plane size range of the first grid includes: 10-meter level (for medium and short-range perception): 10 meters to 100 meters; meter level (for close-range perception): 1 meter to 20 meters; decimeter level (for ultra-close-range perception): 1 decimeter to 10 decimeters.

[0065] For example, the vertical size range of the first grid includes: 10-meter level (for medium and short-range perception): 10 meters to 100 meters; meter level (for close-range perception): 1 meter to 20 meters; decimeter level (for ultra-close-range perception): 1 decimeter to 10 decimeters.

[0066] In some embodiments, the perception service performed by the perception initiation node is grid map environment perception, and the perception initiation node uses the second grid perception for the target area. When the perception initiation node determines that high-precision perception collaboration / blind spot filling is required for the target area, the perception initiation node can determine the perception collaboration node by itself or through the perception control node, and send perception collaboration request information to the perception collaboration node.

[0067] Among them, the sensing frequency domain range of the sensing initiating node is smaller than the sensing frequency domain range of the sensing cooperative node, that is, the sensing cooperative node supports sensing using a grid with a smaller granularity.

[0068] The collaboration type in the perception collaboration request information includes the use of first grid perception, and the collaboration perception area spatial information in the perception collaboration request information includes the type of the first grid (including the type of each grid used to cover the target area), the identification information of the first grid (including the identification information of each grid used to cover the target area), the coordinates of the first grid (including the coordinates of each grid used to cover the target area) and the range of the first grid.

[0069] The range of the first grid may be the range of the target area that the first grid needs to cover (including the vertical and / or horizontal size range of the target area) or the range of the first grid selected to cover the target area (including the vertical and / or horizontal size range of each grid used to cover the target area). Other contents included in the perception collaboration request information may refer to the description in other embodiments or examples and will not be repeated here.

[0070] Among them, high-precision perception can be understood as improving the perception accuracy of the target area.

[0071] In some embodiments, the wide-area perception environment feature map includes at least one of the following: A wide-area sensing target distribution map generated by the sensing cooperation initiating node, including a map marking the coordinates and trajectory of each sensing target acquired by the wide-area sensing; Distribution map of the second grid; Perceptual parameter indicators for wide-area perception.

[0072] In some embodiments, the distribution map of the second grid includes at least one of the following: A coordinate arrangement diagram of the second grid, including the center coordinates of each second grid; The scale definition of the second grid (matching the range defined by the low-frequency domain perception unit capability). For example, the scale definition of the second grid includes the horizontal and vertical size ranges of the second grid: 100-meter level (for medium and short-range perception): 100 meters to 1000 meters; 10-meter level (for short-range perception): 10 meters to 100 meters.

[0073] In some embodiments, the perception parameter index of wide-area perception includes at least one of the following: horizontal resolution, vertical resolution, horizontal position accuracy, vertical position accuracy, speed resolution, and refresh rate.

[0074] In some embodiments, the collaborative perception indicator requirements (the range of perception indicators required to be met by the perception collaborative nodes) include at least one of the following: horizontal resolution, vertical resolution, detection rate, false alarm rate, trajectory completeness rate, confidence, horizontal position accuracy, vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and perception capacity.

[0075] In some embodiments, the applicable indicator range of the FR2 frequency domain sensing node is as follows: Horizontal / vertical resolution: 0.1 degree~1 degree; Detection rate: 80%-99%; False alarm rate: 0.1%-5%; Trajectory completeness: 85%-98%; Confidence level: 80%-98%; Horizontal / vertical position accuracy: 1-10 meters; Perceivable speed range: <350m / s; Velocity resolution: 0.1-1 m / s; Refresh rate: 10-100 times / second; Sensing capacity: A single base station can sense 100-1000 targets simultaneously.

[0076] In some embodiments, the applicable indicator range of the terahertz frequency domain sensing node is as follows: Horizontal / vertical resolution: 0.01°-0.1°; Detection rate: 80%-99%; False alarm rate: 0.1%-1%; Trajectory completeness: 90%-99%; Confidence level: 90%-99%; Horizontal / vertical position accuracy: 0.01-0.1 meters; Perceivable speed range: <350m / s; Speed ​​resolution: 0.01-0.1 m / s; Refresh rate: 50-500 times / second; Sensing capacity: A single base station can sense 500-5000 targets simultaneously.

[0077] In some embodiments, the cooperative sensing time information includes at least one of the following: start time, stop time, sensing data time granularity, sensing cooperation cycle, cooperation duration of each sensing cooperation cycle, and sensing time domain configuration of the sensing cooperation initiating node; wherein, the sensing time domain configuration of the sensing cooperation initiating node includes a period range, a time offset range, and a combing configuration range of sensing signal transmission (sending and receiving) based on a synchronization signal reference point or a frame structure of a wireless communication signal. The offset in the present disclosure can be understood as an offset, which will not be described one by one in the following.

[0078] In some embodiments, if both the perception cooperation initiating node and the cooperation node support 3GPP wireless communication services, the period range, time offset range and comb configuration range for sending and receiving the perception signal are provided based on the frame structure of the wireless communication signal.

[0079] In some embodiments, the sensing time domain resource configuration information of the sensing cooperation node includes at least one of the following: Perception frame configuration range; Perceive the time slot configuration range; The upper limit allowed for the offset of the sensing time domain of the sensing cooperation node relative to the sensing time domain of the sensing cooperation initiating node.

[0080] In some embodiments, the perception frequency domain resource configuration information of the perception cooperation node includes at least one of the following: a center frequency range, a bandwidth range, and a comb configuration range.

[0081] In some embodiments, the interference control information includes at least one of the following: The time domain information that the cooperative nodes need to avoid when performing the sensing cooperation; The frequency domain information that the cooperative nodes need to avoid when performing the sensing cooperation; The spatial information that the cooperative nodes need to avoid when performing sensing cooperation.

[0082] The time domain information includes at least one of the following: symbol, time slot, frame, uplink and downlink interference direction. The frequency domain information includes at least one of the following: harmonic frequency band / frequency point, uplink and downlink direction. The spatial domain information includes the sensing beam direction / sensing beam sequence number.

[0083] S102: Receive feedback information of the sensing cooperation request information sent by the sensing cooperation node.

[0084] In some embodiments, the feedback information includes at least one of the following: Indication information used to indicate modification of one or more information in the awareness collaboration request information; Indication information used to indicate whether the sensing cooperation node accepts the sensing cooperation; The reason for modifying the perceived collaboration request information; Reasons for refusing to perceive collaboration.

[0085] In some embodiments, the reason for modifying the sensing collaboration request information or the reason for rejecting the sensing collaboration includes at least one of the following: Perceived resource constraints; Perception indicators cannot support; The priority is low, that is, the perception service that requires collaborative perception has a lower priority than other perception services.

[0086] Among them, any one of the embodiments or examples in S101-S102 can be applied to a perception collaboration initiating node or a perception control node.

[0087] In some embodiments, the deployment location of the perception control node includes at least one of the following: Independent deployment in the core network; Deployed in conjunction with at least one node in the core network; Independent deployment in the access network; The node is deployed in combination with at least one node in the access network.

[0088] In some embodiments, at least one node in the core network includes at least one of the following: access and mobility management function (AMF), user plane function (UPF), session management function (SDF); at least one node in the access network includes at least one of the following: base station, CU, DU, relay node, integrated access and backhaul node (IAB node), TRP.

[0089] In some embodiments, the sensing cooperation initiating node and the sensing cooperation node may be collectively referred to as a sensing node. The types of sensing nodes include: wireless communication base stations deployed with sensing function modules, remote radio frequency sites, relay type sites, FWA type sites, and mobile devices (mobile phones, drones, car computers, etc.).

[0090] In some embodiments, the sensing cooperation initiating node and the sensing cooperation node satisfy at least one of the following: The sensing frequency domain range of the sensing cooperation initiating node is different from the sensing frequency domain range of the sensing cooperation node; The perception accuracy of the sensing cooperative node is different from the perception accuracy of the sensing cooperative node.

[0091] In some embodiments, the sensing frequency domain range of the sensing cooperation initiating node is a low frequency domain, and the sensing frequency domain range of the sensing cooperation node is a high frequency domain.

[0092] In some embodiments, the sensing accuracy of the sensing cooperation initiating node is lower than the sensing accuracy of the sensing cooperation node.

[0093] For example, the sensing cooperation initiating node is a FR1 2.8 GHz sensing node, and the sensing cooperation node is a FR1 4.9 GHz sensing node.

[0094] For another example, the sensing cooperation initiating node is a FR1 (eg, 4.9 GHz) sensing node, and the sensing cooperation node is a FR2 sensing node (eg, 28 GHz).

[0095] For another example, the sensing cooperation initiating node is a FR2 sensing node (eg, 52 GHz) sensing node, and the sensing cooperation node is a terahertz sensing node (eg, 100 GHz).

[0096] Exemplarily, the sensing cooperation initiating node sends sensing cooperation request information to the sensing cooperation node. Alternatively, the sensing control node sends sensing cooperation request information to the sensing cooperation node. The sensing cooperation request information sent by the sensing control node to the sensing cooperation node may be received by the sensing cooperation initiating node.

[0097] Among them, the data perceived by the perception cooperation node on the target can be sent to the perception cooperation initiating node, and the perception processing module of the perception cooperation initiating node completes the data fusion. Alternatively, the data perceived by the perception cooperation node and the perception cooperation initiating node on the target can be sent to the perception data processing center, and the data fusion is completed in the perception data processing center. Alternatively, the data perceived by the perception cooperation node on the target can be sent to the perception cooperation initiating node, and the perception cooperation initiating node sends its own data perceived by the target and the data perceived by the perception cooperation node on the target to the perception data processing center, and the data fusion is completed in the perception data processing center.

[0098] The perception data processing center may be located in the perception control node, or in the core network or access network and independent of the perception control node.

[0099] In some embodiments, the executor of the above S101-S102 is a perception collaboration control node. Before sending perception collaboration request information to the perception collaboration node, the perception collaboration control node also includes executing the following steps: the perception collaboration control node receives the perception collaboration request information sent by the perception collaboration initiating node.

[0100] In some embodiments, the executor of the above S101-S102 is a perception control node, and the perception control node also includes executing the following steps: the perception control node receives first perception data sent by the perception collaboration initiating node; the perception control node receives second perception data sent by the perception collaboration node; the perception control node fuses the first perception data and the second perception data to obtain fused perception data.

[0101] In some embodiments, the executor of the above S101-S102 is a perception control node, and the perception control node also includes executing the following steps: the perception control node receives the second perception data sent by the perception collaboration node; the perception control node sends the second perception data to the perception collaboration initiating node.

[0102] In some embodiments, the executor of the above S101-S102 is a perception control node, and the perception control node also includes executing the following steps: the perception control node receives the first perception data and the second perception data sent by the perception collaboration initiating node; the perception control node fuses the first perception data and the second perception data to obtain fused perception data.

[0103] In some embodiments, the executor of the above S101-S102 is a perception collaboration initiating node, and the perception collaboration initiating node also includes executing the following steps: the perception collaboration initiating node receives the second perception data sent by the perception collaboration node; the perception collaboration initiating node fuses the first perception data and the second perception data acquired by itself to obtain fused perception data.

[0104] In some embodiments, the executor of the above S101-S102 is a perception collaboration initiating node, and the perception collaboration initiating node also includes executing the following steps: the perception collaboration initiating node receives the second perception data sent by the perception collaboration node; the perception collaboration initiating node sends the second perception data and the first perception data to the perception control node.

[0105] In the present disclosure, the number of the perception cooperation nodes, the perception cooperation initiating nodes, and the perception control nodes may be one or more, and the present disclosure does not limit the number.

[0106] The following is a detailed introduction to the application of the perception collaboration method provided by the present disclosure in different scenarios in combination with the embodiments.

[0107] Case 1: Perception collaboration based on access network architecture.

[0108] like Figure 3 As shown, case 1 describes the sensing collaboration in the wireless access network, taking the sensing collaboration initiating node as base station A (gNB-A) and the sensing collaboration node as base station B (gNB-B) as an example. Among them, both gNB-A and gNB-B are deployed with sensing functions (including sensing control module and sensing data processing module), gNB-A works at 4.9GHz in the FR1 frequency domain, and gNB-B works at 28GHz in the FR2 frequency domain. gNB-A requests gNB-B to collaborate on the sensing function through the access station interface, and performs collaborative sensing for the target area. gNB-B feeds back the high-precision sensing data of the target area to gNB-A, and performs data fusion in the sensing data processing module of gNB-A.

[0109] The specific signaling interaction process involved in the sensing collaboration in case 1 is as follows: Figure 4 As shown, the following steps are included: S201. The perception module of gNB-A decides whether high-precision perception collaboration is required for the target area based on business needs.

[0110] For example, when at least one of the following conditions is met, it is determined whether to perform high-precision perception cooperation on the target area: 1) The number of perceived obstacles in the target area increases, exceeding the perception and resolution capabilities of gNB-A itself; 2) The perceived target moving speed in the target area exceeds the perceived moving speed resolution of gNB-A itself; 3) If a risk target appears in the target area, the perception accuracy will be improved according to the backend user's requirements; 4) The perceived false alarm rate of the target area exceeds the threshold; 5) The perceptual confidence of the target area is lower than the threshold.

[0111] After gNB-A confirms that high-precision perception collaboration is required for the target area, it determines the perception parameters required for the target area.

[0112] S202. gNB-A searches for a cooperative sensing object (sensing cooperative node) with the target area sensing capability based on the sensing parameters required by the target area. This requires gNB-A to interact with surrounding nodes with sensing capabilities in advance and save the sensing capabilities of these nodes.

[0113] S203. gNB-A sends a sensing collaboration request message to the collaboration object that meets the requirements (there may be multiple collaboration objects. gNB-A selects one of the objects that has been successfully negotiated for sensing collaboration. In this case, it is assumed to be gNB-B). The sensing collaboration request message includes at least one of the following: 1) The type of collaboration includes at least one of the following: 1a) Improving perception indicators / filling in perception blind spots: In this case, "improving perception indicators" is selected in 1.

[0114] 1b) Improve the types of perception indicators: including at least one of the following: perception accuracy, position resolution, altitude resolution, speed resolution, perception data refresh rate, target detection rate, confidence, and false alarm rate.

[0115] 1c) Improvement of perception index range: For each type of index that requires improvement, indicate the range of improvement. The benchmark for improvement is the perception index of gNB-A. gNB-A can send its own perception index and perception capability to the perception cooperation node as a reference.

[0116] 1d) Perception frequency domain requirements: FR2 frequency domain perception and / or terahertz frequency domain perception. In case 1, FR2 frequency domain perception can be filled in.

[0117] 1e) Requirement on the improvement of perception frequency: In combination with the required improvement of the indicator, indicate the improvement of the frequency supported by the expected perception cooperation node relative to gNB-A.

[0118] 1f) Perception bandwidth improvement requirement: In combination with the required indicator improvement, indicate the improvement in bandwidth supported by the expected perception cooperation node relative to gNB-A.

[0119] 1g) Requirement on the improvement of perception duration: In combination with the required indicator improvement, indicate the improvement of the perception duration supported by the expected perception cooperation node relative to gNB-A.

[0120] 1h) Requirement on the refinement of sensing beam width: In combination with the required improvement of the indicator, indicate the improvement of the sensing beam width supported by the expected sensing cooperation node relative to gNB-A.

[0121] 1i) Refined grid perception: In this case, gNB-A does not use grid perception map in the collaboration type, so this item does not need to be filled in.

[0122] 1j) Local / omnidirectional airspace perception collaboration: Indicates whether the perception collaboration is for a local area or requires the full airspace perception capability of the perception unit. In this example, you can fill in the local area.

[0123] 1k) Limited time / temporary perceived collaboration: indicates that the perceived collaboration is within a limited time. This collaboration type can be filled in in this example.

[0124] 1l) Periodic perception collaboration: indicates that the perception collaboration is long-term and periodic. This collaboration type can be filled in in this example.

[0125] 2) Collaboration requirements priorities include at least one of the following: 2a) Priority of the user of the sensing service that requires sensing collaboration: indicates the priority level of the user signed with the operator or sensing service provider, such as VIP / senior / ordinary user.

[0126] 2b) Private priority of the sensing service requiring sensing collaboration: indicates the priority level of the sensing service contracted by the operator or sensing service provider, such as VIP / premium / ordinary service level.

[0127] 2c) QoS standard priority of the perception service that requires perception collaboration: the QoS level of the perception service in international / national / industry standards.

[0128] 2d) The priority of the perception service that requires perception cooperation relative to the communication service: If the cooperative site is a communication + perception integrated node, it can also indicate the priority of the perception service relative to the communication service, for example, it can indicate at which QoS level private priority the perception service priority is higher or lower than the communication service.

[0129] 3) Collaborative sensing data acquisition mode: After the collaboration starts, the sensing data is continuously fed back: for example, the sensing data is continuously sensed and fed back according to the refresh rate, without the need for additional signaling control of gNB-A.

[0130] 4) The transmission objectives of collaborative sensing data include at least one of the following: 4a) Target IP address: In this case, the sensing data fusion is completed by the sensing data processing module of gNB-A, so it is filled in with the IP address of gNB-A.

[0131] 4b) Target data processing node ID for collaborative sensing data fusion processing: The node ID of gNB-A can also be entered.

[0132] 5) The collaborative sensing regional spatial information includes at least one of the following: 5a) Perception coordinate range: can use latitude and longitude coordinates, or privately defined map grid coordinates. For example, the horizontal plane coordinate range of the collaborative perception target area, the length and width of the coordinate range is limited to between 100 meters and 0.01 meters.

[0133] 5b) Sensing altitude range: The altitude or other reference system altitude can be used. For example, ground sensing: 0m~10m; ultra-low altitude sensing: 10m~100m; low altitude sensing: 100m~3000m.

[0134] 5c) Sensing beam range: matches the range defined by the high-frequency sensing unit capability. Horizontal beam width range: 1 degree to 10 degrees; vertical beam width range: 1 degree to 20 degrees. If gNB-A has obtained the sensing beam layout of gNB-B in advance, it can query the corresponding sensing beam range according to the target area for collaborative sensing and send it to gNB-B as a suggestion.

[0135] 5d) Refined grid coordinates: the coordinates of each grid center.

[0136] 5e) Refine the grid range: match the range defined by the high-frequency domain perception unit capabilities.

[0137] 5e-1) The horizontal size range of each grid is as follows: 10-meter level (for medium and short-range perception): 10 meters to 100 meters; meter level (for close-range perception): 1 meter to 20 meters; decimeter level (for ultra-close-range perception): 1 decimeter to 10 decimeters.

[0138] 5e-2) The vertical size range of each grid is: 10-meter level (for medium and short-range perception): 10 meters to 100 meters; meter level (for close-range perception): 1 meter to 20 meters; decimeter level (for ultra-close-range perception): 1 decimeter to 10 decimeters.

[0139] In the collaboration type in this case, gNB-A does not use a grid-based perception map, so options 5d) to 5e) do not need to be filled in.

[0140] 6) The wide-area perception environment feature map includes at least one of the following: 6a) Wide-area sensing target distribution map generated by the sensing cooperation initiating node: In this case, it is the sensing map of gNB-A, which is sent to gNB-B as a reference for sensing target screening, which is beneficial to reducing the false alarm rate of sensing targets.

[0141] 6b) The perceived resolution of the atlas (horizontal resolution, vertical resolution).

[0142] 7) Collaborative perception indicators must include at least one of the following: horizontal resolution, vertical resolution, detection rate, false alarm rate, trajectory integrity rate, confidence level, horizontal position accuracy, vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and perception capacity (the number of targets that can be identified per unit area).

[0143] These indicators must match the indicator range supported by the perception frequency domain of the collaborative object. In this case, the perception module of gNB-B operates in the 28GHz frequency domain. Its perception indicator requirements are as follows: horizontal / vertical resolution 50cm, detection rate 95%, false alarm rate 1%, trajectory completeness rate 99%, confidence 95%, horizontal / vertical position accuracy 10cm, perceptible speed range 0~200km, speed resolution 0.1m / s, refresh rate 50 times / s, and perception capacity 200 targets / km2.

[0144] 8) Collaboratively perceived time information includes at least one of the following: 8a) Start / Stop Time: The start and end time of the perceived collaboration, used for a collaboration mode with a specified duration.

[0145] 8b) Temporal granularity of perception data: This is related to the scanning speed of the perception beam and how often the perception map is refreshed.

[0146] 8c) Perception collaboration cycle and collaboration duration per perception collaboration cycle: used for periodic perception collaboration mode.

[0147] 8d) Sensing time domain configuration of the sensing cooperation initiating node: For example, the sensing time domain offset configuration of gNB-A is the 5th 1ms frame of each 10ms radio frame.

[0148] 8e) The range of the perception time offset of the perception cooperation node relative to the perception cooperation initiating node: The perception time domain configurations of the two nodes may be different, so there is inconsistency in the time of obtaining perception data. When fusing data, it is necessary to consider that the offset cannot be too different: for example, the perception time domain offset configuration of gNB-A is the 5th 1ms frame of each 10ms wireless frame, and the perception time domain offset configuration of gNB-B cannot be too far different from that of gNB-A. For example, the range is configured to be within plus or minus 5ms to avoid too much misalignment during data fusion.

[0149] 9) The collaborative sensing time / frequency domain resource configuration information includes at least one of the following: Perception frame / time slot configuration range (the perception time domain of the cooperative node should match the perception time domain of the initiating cooperative node as much as possible to reduce the increase of perception data fusion error caused by time mismatch): On the premise that gNB-A obtains the perception frame format configuration of gNB-B in advance, gNB-A can recommend the appropriate frame format, perception time slot, and perception symbol configuration to gNB-B.

[0150] 10) The interference control information includes at least one of the following: 10a) Time domain information (symbol, time slot, frame, uplink and downlink interference direction) that needs to be avoided when the sensing cooperative node performs sensing cooperation: When gNB-A obtains the frame format of the uplink and downlink work of gNB-B in advance, if there is harmonic interference in the working frequency domain of gNB-A and gNB-B, the time domain avoidance method can be adopted. It is recommended that the sensing time domain of gNB-B be staggered with that of gNB-B.

[0151] 10b) Frequency domain information (harmonic frequency bands / frequency points, uplink and downlink directions) that the sensing cooperative nodes need to avoid when performing sensing cooperation: If gNB-B supports frequency division operation of the sensing function, it can be recommended that the sensing frequency band of gNB-B avoid the frequency band with harmonic interference.

[0152] 10c) The airspace information that the sensing cooperative nodes need to avoid when performing sensing cooperation: sensing beam direction / sensing beam number: If the sensing beams of gNB-A and gNB-B are in conflict, gNB-B may be advised to adjust the sensing beam to avoid the sensing beam of gNB-A.

[0153] S204. gNB-B decides whether to accept the sensing cooperation request. The decision-making basis includes but is not limited to at least one of the following: 1) Whether the self-perception ability indicators meet the requirements; 2) Whether the perceptible area meets the requirements; 3) Whether it meets the interference control requirements; 4) Whether its own frame structure and time domain resource configuration meet the time domain requirements in collaboration; 5) Whether collaborative sensing will cause resource conflicts or overloads for other businesses (such as communication services or sensing services), thereby creating service risks for the business itself.

[0154] If the decision result is that the sensing collaboration is acceptable, feedback information is sent to gNB-A. The feedback information includes indication information of accepting the sensing collaboration, and may also include the sensing indicators, sensing frequency domain configuration, sensing time domain configuration, and sensing spatial domain configuration provided by its own decision.

[0155] If the decision result is to reject the sensing collaboration, feedback information is sent to gNB-A. The feedback information includes indication information of rejecting the sensing collaboration and may also include the reason for rejecting the sensing collaboration (including but not limited to which items in the sensing collaboration request cannot be met and the limitation of its own business).

[0156] S205. If gNB-B performs collaborative sensing, it negotiates with gNB-A based on the sensing collaboration request information to obtain a sensing negotiation result, and senses the target area based on the sensing negotiation result to obtain sensing data of the target area.

[0157] S206. gNB-B feeds back the perception data of the target area to gNB-A.

[0158] S207. gNB-A fuses the high-precision perception data with its own perception data of the target area (soft fusion).

[0159] S208. When gNB-A believes that the target area no longer requires sensing collaboration, it actively sends a sensing collaboration termination message to gNB-B.

[0160] Case 2: Perception collaboration based on perception control nodes.

[0161] refer to Figure 5 or Figure 6 As shown, situation 2 describes that in the 5G wireless network, both gNB-A and gNB-B are deployed with perception functions (including perception control module and perception data processing module); the 5G core network domain deploys perception control nodes (including perception function control entities and perception data processing servers) and AMF, where the perception function control entity is responsible for controlling the perception unit in the wireless network, and the perception data processing server is used to parse, fuse and process perception measurement data; the two can be deployed independently or combined; in this case, the perception data processing modules of gNB-A and gNB-B can upload the original perception data to the perception data processing server for processing according to the needs of the perception service, or perform preliminary parsing and feature extraction on the perception data, and then upload the processed data to the perception data processing server for subsequent processing.

[0162] The working frequency band of gNB-A is 4.9GHz in the FR1 frequency domain, and the working frequency band of gNB-B is 28GHz in the FR2 frequency domain. gNB-A initiates a perception collaboration request through the perception function control entity in the core network domain, and the perception function control entity selects a suitable collaborative base station to complete collaborative negotiation and perception collaboration.

[0163] In this case, the perception service performed by the perception module of gNB-A is grid map environment perception. After preliminary analysis of the perception data, the gNB-A perception module finds that there is a perception blind spot in the target grid, but the perception capabilities of the surrounding perception stations with direct interfaces cannot cover the target grid. Therefore, it chooses to initiate a perception collaboration request to the core network perception function control entity, and the perception function control entity selects a suitable collaboration object (gNB-B in this case) to initiate a perception collaboration request.

[0164] The specific signaling interaction process involved in the sensing collaboration in case 2 is as follows: Figure 7 As shown, the following steps are included: S301. The perception function control entity initiates a perception service establishment request to the low-frequency FR1 perception node gNB-A (using a large grid perception map). The service requires the perception map to be provided in a grid mode. The grid mode can adopt one of the two modes: Single-layer grid: Use a grid of uniform scale to divide the entire gNB-A perception map.

[0165] Multi-layer grid: The entire gNB-A perception map is divided into multiple layers of grids of different scales. The size of each layer of grids is different. The large grid can overlap with the small grid (containing multiple small grids) or not overlap with the small grid (each covering different areas).

[0166] For example, Figure 5 The medium perception service uses a single-layer grid perception map (gNB-A can perceive grid id 95, grid id 96, grid id 97 and grid id 99). Figure 6 The medium-sensing service uses a multi-layer grid sensing map, the low-frequency sensing node gNB-A uses a large grid sensing map (for example, it can sense areas such as large grid id 18, large grid id 19, large grid id 20, large grid id 21, large grid id 22, and large grid id 23), and the high-frequency sensing node gNB-B uses a small grid sensing map (for example, it can sense areas such as small grid id 194, small grid id 195, small grid id 196, small grid id 197, and small grid id 199 in large grid id 22, and can also sense areas such as small grid id 200, small grid id 201, small grid id 202, small grid id 205, and small grid id 206 in large grid id 23). The following steps will explain examples of using these two grid modes respectively.

[0167] S302. gNB-A starts to perform perception services (obtaining perception data of a large grid).

[0168] S303. The perception control module of gNB-A decides whether perception collaboration is needed based on business requirements. In this case, the perception control module of gNB-A screens out the perception blind areas and determines whether perception collaboration is needed.

[0169] by Figure 5 For example, the selected perception blind area of ​​gNB-A corresponds to grid id 98, and grid id 98 is used as the target grid for collaborative perception of gNB-B (collaborative perception is performed through the perception beam emitted by gNB-B).

[0170] by Figure 6For example, the selected perception blind area of ​​gNB-A corresponds to the small grid id 196 in the large grid id 22, and the small grid id 196 is used as the gNB-B collaborative perception target grid (collaborative perception is performed through the perception beam emitted by gNB-B).

[0171] gNB-A determines the perception parameters required to fill the target perception blind spot and selects the collaboration object: In this case, since the perception capabilities of the surrounding perception stations with direct interfaces cannot cover the perception blind spot, it chooses to initiate a perception collaboration request to the core network perception function control entity.

[0172] S304. gNB-A sends a perception cooperation request message to the core network perception function control entity. The content of the perception cooperation request message includes at least one of the following: 1) Collaboration Type: 1a) Improve perception indicators / fill in blind spots in perception: In this case, select "Fill in blind spots in perception".

[0173] Improve the type of perception indicators: including at least one of the following: perception accuracy, position resolution, altitude resolution, speed resolution, perception data refresh rate, target detection rate, confidence, and false alarm rate.

[0174] 1b) Improvement of perception index range: For each type of index that requires improvement, indicate the range of improvement. The benchmark for improvement is the perception index of gNB-A. gNB-A can send its own perception index and perception capability to the perception cooperation node as a reference.

[0175] 1c) Perception frequency domain requirements: FR2 frequency domain perception and / or terahertz frequency domain perception. In this case, FR2 frequency domain perception can be filled in.

[0176] 1d) Requirement on the improvement of perception frequency: In combination with the required improvement of the indicator, indicate the improvement of the frequency supported by the expected perception cooperation node relative to gNB-A.

[0177] 1e) Perception bandwidth improvement requirement: In combination with the required indicator improvement, indicate the improvement in bandwidth supported by the expected perception cooperation node relative to gNB-A.

[0178] 1f) Required improvement in perception duration: In combination with the required improvement in the indicator, indicate the improvement in the perception duration supported by the expected perception cooperation node relative to gNB-A.

[0179] 1g) Requirement on the refinement of sensing beam width: In combination with the required improvement of the indicator, indicate the improvement of the sensing beam width supported by the expected sensing cooperation node relative to gNB-A.

[0180] 1h) Refined grid perception; in this case, if the perception service uses a multi-layer grid (such as Figure 6 ), the spatial information of the collaborative sensing area is determined according to the identified sensing blind area (small grid id 196).

[0181] 1i) Local / omnidirectional airspace perception collaboration: Indicates whether the perception collaboration is for a local area or requires the full airspace perception capability of the perception unit. In this example, you can fill in the local area.

[0182] 1j) Limited time / temporary perceived collaboration: indicates that the perceived collaboration is within a limited time. This collaboration type can be filled in in this example.

[0183] 1k) Periodic perception collaboration: indicates that the perception collaboration is long-term and periodic. This collaboration type can be filled in in this example.

[0184] 2) Collaboration requirements priorities include at least one of the following: 2a) Priority of the user of the sensing service that requires sensing collaboration: indicates the priority level of the user signed with the operator or sensing service provider, such as VIP / senior / ordinary user.

[0185] 2b) Private priority of the sensing service requiring sensing collaboration: indicates the priority level of the sensing service contracted by the operator or sensing service provider, such as VIP / premium / ordinary service level.

[0186] 2c) QoS standard priority of the perception service that requires perception collaboration: the QoS level of the perception service in international / national / industry standards.

[0187] 2d) The priority of the perception service that requires perception collaboration relative to the communication service: If the collaborative site is a communication + perception integrated node, it can also indicate the priority of the perception service relative to the communication service, for example, it can indicate which QoS level / private priority of the communication service the perception service priority is higher or lower than.

[0188] 3) The acquisition mode of collaborative sensing data includes at least one of the following: 3a) Continuously feeding back sensing data after the collaboration starts: For example, continuously sensing and feeding back sensing data according to the refresh rate, without the need for additional signaling control by gNB-A; 3b) Feedback of perception data on demand after collaboration starts: For example, gNB-B does not start perception immediately after collaboration starts. It perceives and feeds back data only after receiving a perception instruction from gNB-A. The perception instruction may include perception in the time domain, frequency domain, spatial domain, and perception indicator configuration.

[0189] 4) Transmission target of collaborative perception data: Target IP address: In this case, the perception data fusion is completed by the perception data processing server in the core network domain, so fill in the IP address of the perception data processing server.

[0190] 5) The collaborative sensing regional spatial information includes at least one of the following: 5a) Sensing beam range: If gNB-A has obtained the sensing beam layout map of gNB-A in advance, it can query the corresponding sensing beam range according to the target grid for collaborative sensing and send it to gNB-B as a suggestion.

[0191] 5b) Grid type: small grid (fine grid) (such as Figure 6 A grid of the size of small or medium grid id 196 or at least one grid that can cover small grid id 196).

[0192] 5c) Refined grid identification information, such as refined grid ID range; 5d) Refine grid coordinates, such as grid center coordinates and target grid coordinates (horizontal and vertical coordinates) that require collaborative sensing; 5e) Refined grid range: predefined 3D map grid settings, grid size (horizontal range and vertical range). The grid size can be filled in according to the small grid size predefined by the perception service, for example: 50 meters.

[0193] 6) The wide-area perception environment feature map includes at least one of the following: 6a) Wide-area sensing target distribution map generated by the sensing cooperation initiating node: In this case, it is the sensing grid map of gNB-A, which is sent to gNB-B as a reference for sensing target screening, which helps to reduce the false alarm rate of sensing targets.

[0194] 6b) The perceived resolution of the atlas (horizontal resolution, vertical resolution).

[0195] 7) Collaborative perception indicators must include at least one of the following: horizontal / vertical resolution, detection rate, false alarm rate, trajectory integrity rate, confidence, horizontal / vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and perception capacity (the number of targets that can be identified per unit area).

[0196] These indicators must match the indicator range supported by the perception frequency domain of the collaborative object. In this case, the perception module of gNB-B operates in the 28GHz frequency domain. Its perception indicator requirements are as follows: horizontal / vertical resolution 50cm, detection rate 95%, false alarm rate 1%, trajectory completeness rate 99%, confidence 95%, horizontal / vertical position accuracy 10cm, perceptible speed range 0~200km, speed resolution 0.1m / s, refresh rate 50 times / s, and perception capacity 200 targets / km2.

[0197] 8) Collaboratively perceived time information includes at least one of the following: 8a) Start / Stop Time: The start and end time of the perceived collaboration, used for a collaboration mode with a specified duration.

[0198] 8b) Temporal granularity of perception data: This is related to the scanning speed of the perception beam and how often the perception map is refreshed.

[0199] 8c) Perception collaboration cycle and collaboration duration per perception collaboration cycle: used for periodic collaboration mode.

[0200] 8d) Sensing time domain configuration of the sensing cooperation initiating node: For example, the sensing time domain offset configuration of gNB-A is the 5th 1ms frame of each 10ms radio frame.

[0201] 8e) The range of the perception time offset of the perception cooperation node relative to the perception cooperation initiating node: The perception time domain configurations of the two nodes may be different, so there is inconsistency in the time of obtaining perception data. When fusing data, it is necessary to consider that the offset cannot be too different: for example, the perception time domain offset configuration of gNB-A is the 5th 1ms frame of each 10ms wireless frame, and the perception time domain offset configuration of gNB-B cannot be too far different from that of gNB-A. For example, the range is configured to be within plus or minus 5ms to avoid too much misalignment during data fusion.

[0202] 9) The collaborative sensing time / frequency domain resource configuration information includes at least one of the following: Perception frame / time slot configuration range (the perception time domain of the cooperative node should match the perception time domain of the initiating cooperative node as much as possible to reduce the increase of perception data fusion error caused by time mismatch): On the premise that gNB-A obtains the perception frame format configuration of gNB-B in advance, gNB-A can recommend the appropriate frame format, perception time slot, and perception symbol configuration to gNB-B.

[0203] 10) The interference control information includes at least one of the following: 10a) Time domain information (symbol, time slot, frame, uplink and downlink interference direction) that the nodes to be coordinated need to avoid when performing perception coordination: When gNB-A obtains the frame format of the uplink and downlink work of gNB-B in advance, if there is harmonic interference in the working frequency domain of gNB-A and gNB-B, the time domain avoidance method can be adopted. It is recommended that the perception time domain of gNB-B be staggered with that of gNB-B.

[0204] 10b) Frequency domain information (harmonic frequency bands / frequency points, uplink and downlink directions) that the sensing cooperative nodes need to avoid when performing sensing cooperation: If gNB-B supports frequency division operation of the sensing function, it can be recommended that the sensing frequency band of gNB-B avoid the frequency band with harmonic interference.

[0205] 10c) The airspace information that the sensing cooperative nodes need to avoid when performing sensing cooperation: sensing beam direction / sensing beam number: If the sensing beams of gNB-A and gNB-B are in conflict, gNB-B may be advised to adjust the sensing beam to avoid the sensing beam of gNB-A.

[0206] S305. The perception function control entity searches for a collaborative perception object (perception cooperation node) with the target area perception capability according to the perception cooperation request information. This requires that the perception function control entity has previously acquired nodes with perception capabilities in the service area and saved the perception capabilities of these nodes.

[0207] S306. The perception function control entity selects gNB-B and forwards the perception cooperation request information (including the small grid perception map) to it.

[0208] S307. gNB-B decides whether to accept the sensing cooperation. The decision-making basis includes but is not limited to at least one of the following: 1) Whether the self-perception ability indicators meet the requirements; 2) Whether the perceptible area meets the requirements; 3) Whether it meets the interference control requirements; 4) Whether its own frame structure and time domain resource configuration meet the time domain requirements in collaboration; 5) Whether collaborative sensing will cause resource conflicts or overloads for other businesses (such as communication services or sensing services), thereby creating service risks for the business itself.

[0209] If the decision result is that the perception collaboration is acceptable, information is fed back to the perception function control entity. The feedback information includes indication information for accepting the perception collaboration, and may also include the perception indicators, perception frequency domain configuration, perception time domain configuration, and perception spatial domain configuration provided by its own decision.

[0210] If the decision result is to reject collaboration, feedback information is sent to the perception function control entity. The feedback information includes indication information of rejecting perception collaboration and may also include the reason for rejecting perception collaboration (including but not limited to which items in the perception collaboration request cannot be met and the limitation of the own business).

[0211] S308. The perception function control entity forwards the feedback information to gNB-A.

[0212] S309. If gNB-B performs collaborative sensing, the sensing collaborative configuration is determined based on the sensing request information; the target area is sensed based on the sensing collaborative configuration to obtain sensing data (including sensing data of small grids).

[0213] S310. gNB-B feeds back the perception data (including the perception data of the small grid) to the perception function control entity.

[0214] S311. gNB-A uploads the perception data (including large grid perception data / wide-area perception grid map data) to the perception data processing server in the core network area.

[0215] S312. The perception data processing server fuses the perception data of gNB-A and gNB-B by splicing the perception data according to a grid (which can also be called perception map combination).

[0216] Among them, grid-type perception is not limited to the fusion method of splicing. In this example, a collaborative method similar to that in situation 1 can also be implemented to fuse high-precision and low-precision perception data in the same grid from different perception units.

[0217] S313. When gNB-A believes that the target area no longer requires sensing collaboration, it actively sends a sensing collaboration termination message to the sensing function control entity.

[0218] S314. The perception function control entity forwards the perception cooperation termination message to gNB-B.

[0219] Case 3: Perception collaboration initiated by the perception control node.

[0220] refer to Figure 8As shown, situation 3 describes that in the 5G wireless network, gNB-A / B / C are deployed with perception functions (including perception control module and perception data processing module); the third-party area (which can be the core network domain or the access network domain) deploys the perception function control entity and the perception data processing server, where the perception function control entity is responsible for controlling the perception unit in the wireless network, and the perception data processing server is used to parse, fuse and process the perception measurement data; the two can be deployed independently or combined; in this case, the perception data processing module of gNB-A / B / C can upload the original perception data to the perception data processing server for processing according to the needs of the perception service, or perform preliminary analysis and feature extraction on the perception data, and then upload the processed data to the perception data processing server for subsequent processing.

[0221] The working frequency band of gNB-A is 4.9GHz in the FR1 frequency domain, the working frequency band of gNB-B is 28GHz in the FR2 frequency domain, and the working frequency band of gNB-C is 32GHz in the FR2 frequency domain. According to the needs of the perception service, the perception function control entity finds a suspicious perception target in the wide-area perception map of gNB-A, and needs to perform high-precision tracking perception on the target. The perception units that can perform high-precision perception collaboration in the target path area include gNB-B and gNB-C. The perception function control entity initiates perception collaboration requests to gNB-B and gNB-C in turn as needed according to the trajectory and arrival position of the target.

[0222] The specific signaling interaction process involved in the sensing collaboration in case 3 is as follows: Fig. 9 As shown, the following steps are included: S401. The perception function control entity initiates a perception service establishment request to the low frequency FR1 perception node gNB-A.

[0223] S402. The perception function control entity decides whether to initiate perception cooperation (high-precision perception of the target area) for the target area according to business needs.

[0224] For example, in this case, the perception service background identifies the target to be tracked in the wide-area perception map of gNB-A, requires the perception accuracy and refresh rate to be improved, and notifies the perception function control entity. The perception function control entity formulates the collaborative perception parameters required for the target area according to the background requirements.

[0225] The perception function control entity or the perception data processing server identifies the target to be tracked in the wide-area perception map of gNB-A and requires improvement of the perception accuracy and refresh rate. The perception function control entity formulates the collaborative perception parameters required for the target area according to the requirements.

[0226] S403. The perception function control entity searches for a collaborative perception object that has the target area perception capability according to the collaborative perception parameters. In this case, assuming that the tracking target enters the perception area of ​​gNB-B first, the perception function control entity first selects gNB-B as the collaborative object.

[0227] S404. The perception function control entity sends a perception collaboration request message to gNB-B. The content of the perception collaboration request message refers to situation 1 and will not be repeated here (in this situation, the upload address of the collaborative perception data is the perception data processing server).

[0228] S405. gNB-B decides whether to accept the sensing collaboration. The decision is based on reference situation 1 and will not be repeated here.

[0229] If the decision result is that the sensing collaboration is acceptable, feedback information is sent to gNB-A. The feedback information includes indication information of accepting the sensing collaboration, and may also include the sensing indicators, sensing frequency domain configuration, sensing time domain configuration, and sensing spatial domain configuration provided by its own decision.

[0230] If the decision result is to reject the sensing collaboration, feedback information is sent to gNB-A. The feedback information includes indication information of rejecting the sensing collaboration and may also include the reason for rejecting the sensing collaboration (including but not limited to which items in the sensing collaboration request cannot be met and the limitation of its own business).

[0231] S406. If gNB-B performs collaborative sensing, it negotiates with gNB-A based on the sensing collaboration request information, and senses the target area based on the sensing negotiation result to obtain the sensing data of the target area.

[0232] S407. gNB-B feeds back the perception data (including high-precision perception data) of the target area to the perception data processing server.

[0233] S408. gNB-A feeds back the perception data (including wide area perception data) to the perception data processing server.

[0234] S409. The perception data processing server performs perception data fusion (soft fusion) on the perception data of gNB-B and the perception data of gNB-A.

[0235] S410. When the perception function control entity recognizes that the tracking target is about to leave the perception area of ​​gNB-B (for example, it can determine whether to stop the perception collaboration of gNB-B based on the location of the tracking target or the decrease in indicators such as the confidence of the perception data), it considers that it is necessary to terminate the perception collaboration of gNB-B, replace the new collaboration object, and actively send a perception collaboration termination message to gNB-B.

[0236] Then, in S411-S417, the perception function control entity repeats steps S402-S403, selects a new collaborative object gNB-C, and then repeats steps S404-S410 to maintain the improvement of the perception accuracy of the tracked target.

[0237] Case 4: Feedback of collaborative perception data on demand.

[0238] In cases 1 to 3, the feedback mode of collaborative perception data can be: feedback of perception data on demand after the perception collaboration starts. For example, after the perception collaboration starts, the perception collaboration node does not start perception immediately, but only perceives and feeds back perception data after receiving the real-time perception instruction sent by the perception collaboration initiating node. The real-time perception instruction may include the perception time domain, frequency domain, spatial domain, and perception indicator configuration.

[0239] Among them, the large grid and the small grid in each embodiment or example are to more clearly represent the relative concepts of different granularities of the grid. The large grid may be the second grid defined in the present disclosure, and the small grid may be the first grid defined in the present disclosure. The granularity of the large grid is greater than that of the small grid, and the perception accuracy (or perception frequency domain range) of the node that can be perceived by the large grid may be less than the perception accuracy (or perception frequency domain range) of the node that can be perceived by the small grid. Specifically for different scenarios, the range of the large grid and the range of the small grid can be pre-defined.

[0240] Based on this, by sending perception collaboration request information to the perception collaboration node, and receiving feedback information of the perception collaboration request information sent by the perception collaboration node. Among them, the perception collaboration request information is helpful to assist the perception collaboration node to better perform perception collaboration under the condition of understanding the actual perception needs. Similarly, the perception collaboration node can also provide its own actual perception situation in the perception collaboration process through feedback information, so as to better perform perception collaboration. The disclosed embodiment improves the perception collaboration mechanism to achieve more accurate perception of the target and meet actual needs.

[0241] The present disclosure provides a method for perceptual collaboration. Fig.10 As shown, the method comprises the following steps: S501: Receive perception collaboration request information.

[0242] In some embodiments, the perception collaboration request information includes at least one of the following: collaboration type, collaboration requirement priority, collaboration perception data acquisition mode, collaboration perception data transmission target, collaboration perception area spatial information, wide-area perception environment characteristic map, collaboration perception indicator requirements, collaboration perception time information, perception time domain resource configuration information of the perception collaboration node, perception frequency domain resource configuration information of the perception collaboration node, and interference control information.

[0243] In some embodiments, the collaboration type includes at least one of the following: Improve perception indicators; Fill in the blind spots of perception; Improve the type of perceived indicators; Improve the amplitude of perception indicators; Perceiving frequency domain requirements; Requirements for the increase in perceived frequency points; The requirements for the increase in perceived bandwidth; Requirements for improvement in perceived duration; Refinement amplitude requirements of sensing beam width; Adopt first grid perception; Local / omnidirectional airspace awareness collaboration; Ground perception collaboration / low-altitude perception collaboration; Limited time / temporary perceived collaboration; Periodic sensing collaboration.

[0244] In some embodiments, the perception indicator type includes at least one of the following: perception accuracy, position resolution, altitude resolution, speed resolution, perception data refresh rate, target detection rate, confidence, and false alarm rate.

[0245] In some embodiments, sensing frequency domain requirements includes FR2 frequency domain sensing and / or terahertz frequency domain sensing.

[0246] In some embodiments, the collaboration requirement priority includes at least one of the following: The priority of users whose sensing services require sensing collaboration; Perceived business-private priorities that require perceived collaboration; Prioritization of perceived business service quality standards that require perceived collaboration; The priority of sensing services that require sensing cooperation relative to communication services.

[0247] In some embodiments, the acquisition mode of the collaborative sensing data includes at least one of the following: After the collaboration begins, the perception data is continuously fed back; After the collaboration begins, the perception data is fed back on demand.

[0248] In some embodiments, the transmission target of the cooperative sensing data includes at least one of the following: The network protocol address of the target; The data processing node ID of the target.

[0249] In some embodiments, the collaborative sensing area spatial information includes at least one of the following: Perception coordinate range; Perception altitude range; Perceiving beam range; The type of the first grid; identification information of the first grid; The coordinates of the first grid; The extent of the first grid.

[0250] In some embodiments, the range of the first grid includes at least one of the following: The horizontal plane size range of the cooperative sensing area corresponding to the first grid; The vertical size range of the collaborative sensing area corresponding to the first grid; The horizontal size range of the first grid; The vertical size range of the first grid.

[0251] In some embodiments, the wide-area perception environment feature map includes at least one of the following: Wide-area sensing target distribution map generated by the sensing cooperation initiating node; Distribution map of the second grid; Perceptual parameter indicators for wide-area perception.

[0252] In some embodiments, the distribution diagram of the second grid includes at least one of the following: an arrangement diagram of the second grid coordinates, and a scale definition of the second grid.

[0253] In some embodiments, the perception parameter index of wide-area perception includes at least one of the following: horizontal resolution, vertical resolution, horizontal position accuracy, vertical position accuracy, speed resolution, and refresh rate.

[0254] In some embodiments, the collaboration awareness indicator requirement includes at least one of the following: Horizontal resolution, vertical resolution, detection rate, false alarm rate, trajectory completeness rate, confidence level, horizontal position accuracy, vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and perception capacity.

[0255] In some embodiments, the collaboratively aware time information includes at least one of the following: Start time, end time, perception data time granularity, perception collaboration cycle, collaboration duration of each perception collaboration cycle, and perception time domain configuration of the perception collaboration initiating node; wherein, the perception time domain configuration of the perception collaboration initiating node includes the period range, time offset range, and combing configuration range of the perception signal transmission based on the synchronization signal reference point or the frame structure of the wireless communication signal.

[0256] In some embodiments, the sensing time domain resource configuration information of the sensing cooperation node includes at least one of the following: Perception frame configuration range; Perceive the time slot configuration range; The upper limit allowed for the offset of the sensing time domain of the sensing cooperation node relative to the sensing time domain of the sensing cooperation initiating node.

[0257] In some embodiments, the perception frequency domain resource configuration information of the perception cooperation node includes at least one of the following: a center frequency range, a bandwidth range, and a comb configuration range.

[0258] In some embodiments, the interference control information includes at least one of the following: The time domain information that the cooperative nodes need to avoid when performing the sensing cooperation; The frequency domain information that the cooperative nodes need to avoid when performing the sensing cooperation; The spatial information that the cooperative nodes need to avoid when performing sensing cooperation.

[0259] In some embodiments, the feedback information includes at least one of the following: Indication information used to indicate modification of one or more information in the awareness collaboration request information; Indication information used to indicate whether the sensing cooperation node accepts the sensing cooperation; The reason for modifying the perceived collaboration request information; Reasons for refusing to perceive collaboration.

[0260] In some embodiments, the reason for modifying the sensing collaboration request information or the reason for rejecting the sensing collaboration includes at least one of the following: Perceived resource constraints; Perception indicators cannot support; Low priority.

[0261] S502: Send feedback information of the perceived collaboration request information.

[0262] In some embodiments, the feedback information includes at least one of the following: Indication information for indicating modification of one or more requirements in the awareness collaboration request information; Indication information used to indicate whether the sensing cooperation node accepts the sensing cooperation; The reason for modifying the perceived collaboration request information; Reasons for refusing to perceive collaboration.

[0263] In some embodiments, the reason for modifying the sensing collaboration request information or the reason for rejecting the sensing collaboration includes at least one of the following: Perceived resource constraints; Perception indicators cannot support; Low priority.

[0264] In some embodiments, S501 to S502 can be used to perceive collaborative nodes. For a more detailed description of the above S501 to S502, a more detailed description of each technical feature therein, and a description of the beneficial effects, etc., please refer to the description in the above embodiments or examples and will not be repeated here.

[0265] The above mainly introduces the scheme of the embodiment of the present disclosure from the perspective of the method. A perception collaboration device is also shown below, which is used to execute the perception collaboration method in any of the above embodiments and possible implementations thereof. It can be understood that in order to implement the perception collaboration method, the perception collaboration device includes hardware structures and / or software modules corresponding to the execution of various functions; those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiment of the present disclosure, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the target application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each target application, but such implementation should not be considered to exceed the scope of the present disclosure.

[0266] The embodiments of the present disclosure may divide the functional modules of the perception collaboration device according to the above-mentioned method embodiments. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one functional module. The above-mentioned integrated modules may be implemented in the form of hardware or software. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical functional division. There may be other division methods in actual implementation. The following is an example of dividing each functional module corresponding to each function.

[0267] Fig.11 1 is a schematic diagram of a structure of a perception cooperation device provided by an embodiment of the present disclosure. The perception cooperation device comprises: a first communication module 61, a second communication module 62 and a processing module 63.

[0268] Wherein, the first communication module 61 is used to send perception cooperation request information to the perception cooperation node; The second communication module 62 is used to receive feedback information of the sensing cooperation request information sent by the sensing cooperation node.

[0269] In some embodiments, the perception cooperation device is applied to a perception cooperation initiating node or a perception control node.

[0270] In some embodiments, the deployment location of the perception control node includes at least one of the following: Independent deployment in the core network; Deployed in conjunction with at least one node in the core network; Independent deployment in the access network; The node is deployed in combination with at least one node in the access network.

[0271] In some embodiments, the perception cooperation device is applied to the perception cooperation control node. Before sending the perception cooperation request information to the perception cooperation node, the second communication module 62 is further used to receive the perception cooperation request information sent by the perception cooperation initiating node.

[0272] In some embodiments, the perception collaboration device is applied to a perception control node, and the second communication module 62 is further used to receive first perception data sent by a perception collaboration initiating node; the second communication module 62 is further used to receive second perception data sent by a perception collaboration node; and the processing module 63 is used to fuse the first perception data and the second perception data to obtain fused perception data.

[0273] In some embodiments, when the perception cooperation device is applied to a perception control node, the second communication module 62 is further used to receive second perception data sent by the perception cooperation node; the first communication module 61 is further used to send the second perception data to the perception cooperation initiating node.

[0274] In some embodiments, the perception collaboration device is applied to a perception control node, and the second communication module 62 is further used to receive first perception data and second perception data sent by the perception collaboration initiating node; the processing module 63 is used to fuse the first perception data and the second perception data to obtain fused perception data.

[0275] In some embodiments, the perception collaboration device is applied to the perception collaboration initiating node, and the second communication module 62 is also used to receive the second perception data sent by the perception collaboration node; the processing module 63 is used to fuse the first perception data and the second perception data acquired by itself to obtain fused perception data.

[0276] In some embodiments, the perception collaboration device is applied to the perception collaboration initiating node, and the second communication module 62 is further used to receive the second perception data sent by the perception collaboration node; the first communication module 61 is further used to send the second perception data and the first perception data to the perception control node.

[0277] For a more detailed description of the first communication module 61, the second communication module 62 and the processing module 63, as well as a more detailed description of each technical feature therein and a description of the beneficial effects, etc., please refer to the corresponding method embodiment part above, which will not be repeated here.

[0278] Fig.121 is a schematic diagram of the structure of another perception cooperation device provided by an embodiment of the present disclosure. The perception cooperation device includes: a third communication module 71 and a fourth communication module 72.

[0279] Wherein, the third communication module 71 is used to receive the sensing collaboration request information; The fourth communication module 72 is used to send feedback information of the perceived collaboration request information.

[0280] For a more detailed description of the third communication module 71 and the fourth communication module 72, as well as a more detailed description of each technical feature therein and a description of the beneficial effects, etc., please refer to the corresponding method embodiment part above, which will not be repeated here.

[0281] It should be noted that Fig.11 , Fig.12 The modules in the communication module may also be referred to as units. For example, the communication module may be referred to as a communication unit. Fig.11 , Fig.12 In the illustrated embodiment, the names of the modules may not be the names shown in the figure. For example, the communication module may also be called a sending module or a receiving module.

[0282] Fig.11 , Fig.12 If the various units or modules in the embodiment are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present disclosure is essentially or the part that contributes to the relevant technology or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present disclosure. The storage medium for storing computer software products includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc. Various media that can store program codes.

[0283] In the case of implementing the functions of the above-mentioned integrated modules in the form of hardware, the embodiment of the present disclosure also provides a possible structure of a communication device, which is used to execute the perception cooperation method provided by the embodiment of the present disclosure. Fig.13 As shown, the communication device 800 includes: a communication interface 803, a processor 802 and a bus 804. Optionally, the communication device may further include a memory 801.

[0284] The processor 802 may be a processor that implements or executes various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. The processor 802 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. The processor 802 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0285] The communication interface 803 is used to connect with other devices via a communication network, which may be Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0286] The memory 801 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0287] As a possible implementation, the memory 801 may exist independently of the processor 802, and the memory 801 may be connected to the processor 802 via a bus 804 to store instructions or program codes. When the processor 802 calls and executes the instructions or program codes stored in the memory 801, the perception cooperation method provided in the embodiment of the present disclosure can be implemented.

[0288] In another possible implementation, the memory 801 may also be integrated with the processor 802 .

[0289] The bus 804 may be an extended industry standard architecture (EISA) bus, etc. The bus 804 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.13 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0290] Some embodiments of the present disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) having computer program instructions stored therein. When the computer program instructions are executed on a computer, the computer executes the perceptual collaboration method as described in any of the above embodiments.

[0291] In an exemplary embodiment, the computer may be the above-mentioned communication device, and the present disclosure does not limit the specific form of the computer.

[0292] In some examples, the computer-readable storage media described above may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or tapes, etc.), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in the present disclosure may represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0293] The embodiments of the present disclosure provide a computer program product including instructions. When the computer program product is run on a computer, the computer is enabled to execute the perceptual collaboration method described in any one of the above embodiments.

[0294] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A perception collaboration method, characterized in that: The method comprises: Sending a sensing cooperation request message to the sensing cooperation node; Receive feedback information of the sensing cooperation request information sent by the sensing cooperation node.

2. The method according to claim 1, characterized in that The perception collaboration request information includes at least one of the following: collaboration type, collaboration requirement priority, collaboration perception data acquisition mode, collaboration perception data transmission target, collaboration perception area spatial information, wide-area perception environment characteristic map, collaboration perception indicator requirements, collaboration perception time information, the perception time domain resource configuration information of the perception collaboration node, the perception frequency domain resource configuration information of the perception collaboration node, and interference control information.

3. The method according to claim 2, characterized in that The collaboration type includes at least one of the following: Improve perception indicators; Fill in the blind spots of perception; Improve the type of perceived indicators; Improve the amplitude of perception indicators; Perceiving frequency domain requirements; Requirements for the increase in perceived frequency; The requirements for the increase in perceived bandwidth; Requirements for improvement in perceived duration; Refinement amplitude requirements of sensing beam width; Adopt first grid perception; Local / omnidirectional airspace awareness collaboration; Ground perception collaboration / low-altitude perception collaboration; Limited time / temporary perceived collaboration; Periodic sensing collaboration.

4. The method according to claim 3, characterized in that: The perception indicator type includes at least one of the following: perception accuracy, position resolution, altitude resolution, speed resolution, perception data refresh rate, target detection rate, confidence, and false alarm rate.

5. The method according to claim 3, characterized in that: The perception frequency domain requirement includes FR2 frequency domain perception and / or terahertz frequency domain perception.

6. The method according to claim 2, characterized in that The collaboration requirement priority includes at least one of the following: The priority of users whose sensing services require sensing collaboration; Perceived business-private priorities that require perceived collaboration; Prioritization of perceived business service quality standards that require perceived collaboration; The priority of sensing services that require sensing cooperation relative to communication services.

7. The method according to claim 2, characterized in that The acquisition mode of the collaborative sensing data includes at least one of the following: Continuously feed back perception data after collaboration begins; After the collaboration begins, the perception data is fed back on demand.

8. The method according to claim 2, characterized in that: The transmission target of the collaborative sensing data includes at least one of the following: The network protocol address of the target; The data processing node ID of the target.

9. The method according to claim 2, characterized in that: The collaborative sensing area spatial information includes at least one of the following: Perception coordinate range; Perception altitude range; Perceiving beam range; The type of the first grid; identification information of the first grid; The coordinates of the first grid; The extent of the first grid.

10. The method according to claim 9, characterized in that The range of the first grid includes at least one of the following: The horizontal size range of the collaborative sensing area corresponding to the first grid; A vertical size range of the collaborative sensing area corresponding to the first grid; The horizontal size range of the first grid; The vertical size range of the first grid.

11. The method according to claim 2, characterized in that The wide-area perception environment feature map includes at least one of the following: A wide-area sensing target distribution map generated by the sensing cooperation initiating node; Distribution map of the second grid; Perceptual parameter indicators for wide-area perception.

12. The method according to claim 11, characterized in that The distribution diagram of the second grid includes at least one of the following: an arrangement diagram of the second grid coordinates, and a scale definition of the second grid.

13. The method according to claim 11, characterized in that The perception parameter index of the wide-area perception includes at least one of the following: horizontal resolution, vertical resolution, horizontal position accuracy, vertical position accuracy, speed resolution, and refresh rate.

14. The method according to claim 2, characterized in that The collaboration awareness indicator requirements include at least one of the following: Horizontal resolution, vertical resolution, detection rate, false alarm rate, trajectory completeness rate, confidence level, horizontal position accuracy, vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and perception capacity.

15. The method according to claim 2, characterized in that The collaborative sensing time information includes at least one of the following: Start time, end time, perception data time granularity, perception collaboration cycle, collaboration duration of each perception collaboration cycle, and perception time domain configuration of the perception collaboration initiating node; wherein the perception time domain configuration of the perception collaboration initiating node includes the period range, time offset range, and combing configuration range of the perception signal transmission based on the synchronization signal reference point or the frame structure of the wireless communication signal.

16. The method according to claim 2, characterized in that The sensing time domain resource configuration information of the sensing cooperation node includes at least one of the following: Perception frame configuration range; Perceive the time slot configuration range; The permissible upper limit of the offset of the sensing time domain of the sensing cooperation node relative to the sensing time domain of the sensing cooperation initiating node.

17. The method according to claim 2, characterized in that The perception frequency domain resource configuration information of the perception cooperation node includes at least one of the following: a center frequency range, a bandwidth range, and a comb configuration range.

18. The method according to claim 2, characterized in that The interference control information includes at least one of the following: time domain information that the sensing cooperation node needs to avoid when performing sensing cooperation; Frequency domain information that the sensing cooperation node needs to avoid when performing sensing cooperation; The sensing cooperation node needs to avoid airspace information when performing sensing cooperation.

19. The method according to claim 1, characterized in that The feedback information includes at least one of the following: Instruction information used to instruct modification of one or more information in the perception collaboration request information; Indication information used to indicate whether the sensing cooperation node accepts the sensing cooperation; a reason for modifying the sensing collaboration request information; Reasons for refusing to perceive collaboration.

20. The method according to claim 19, characterized in that The reason for modifying the sensing collaboration request information or the reason for rejecting the sensing collaboration includes at least one of the following: Perceived resource constraints; Perception indicators cannot support; Low priority.

21. The method according to any one of claims 1 to 20, characterized in that The method is applied to a perception cooperation initiating node or a perception control node.

22. The method according to claim 21, characterized in that The deployment location of the perception control node includes at least one of the following: Independent deployment in the core network; Deployed in conjunction with at least one node in the core network; Independent deployment in the access network; The node is deployed in combination with at least one node in the access network.

23. The method according to claim 22, characterized in that At least one node in the core network includes at least one of the following: access and mobility management function, user plane function, session management function; at least one node in the access network includes at least one of the following: base station, centralized unit, distributed unit, relay node, integrated access and backhaul node, transmission receiving point.

24. The method according to claim 21, characterized in that The sensing cooperation initiating node and the sensing cooperation node satisfy at least one of the following: The sensing frequency domain range of the sensing cooperation initiating node is different from the sensing frequency domain range of the sensing cooperation node; The perception accuracy of the perception cooperation node is different from the perception accuracy of the perception cooperation node.

25. The method according to claim 24, characterized in that The perception frequency domain range of the perception cooperation initiating node is the low frequency domain, and the perception frequency domain range of the perception cooperation node is the high frequency domain; The perception accuracy of the perception cooperation initiating node is lower than the perception accuracy of the perception cooperation node.

26. The method according to claim 21, characterized in that The method is applied to a perception cooperation control node, and before sending the perception cooperation request information to the perception cooperation node, the method further includes: Receive the sensing cooperation request information sent by the sensing cooperation initiating node.

27. The method according to claim 21, characterized in that The method is applied to the perception control node, and the method further includes: Receiving first perception data sent by the perception cooperation initiating node; Receiving second perception data sent by the perception cooperation node; The first perception data and the second perception data are fused to obtain fused perception data.

28. The method according to claim 21, characterized in that The method is applied to the perception control node, and the method further includes: Receiving second perception data sent by the perception cooperation node; Send the second perception data to the perception cooperation initiating node.

29. The method according to claim 21, characterized in that The method is applied to the perception control node, and the method further includes: Receiving first perception data and second perception data sent by the perception cooperation initiating node; The first perception data and the second perception data are fused to obtain fused perception data.

30. The method according to claim 21, characterized in that The method is applied to the perception cooperation initiating node, and the method further includes: Receiving second perception data sent by the perception cooperation node; The first perception data acquired by itself and the second perception data are fused to obtain fused perception data.

31. The method according to claim 21, characterized in that The method is applied to the perception cooperation initiating node, and the method further includes: Receiving second perception data sent by the perception cooperation node; The second perception data and the first perception data are sent to the perception control node.

32. A perceptual collaboration method, characterized in that: The method comprises: receiving sensing collaboration request information; Send feedback information of the perceived collaboration request information.

33. A communication device, characterized in that: include: Memory and processor; Memory and processor coupling; The memory is used to store instructions executable by the processor; When the processor executes the instructions, the processor performs the method according to any one of claims 1 to 31, or the method according to claim 32.

34. A computer program product, characterized in that When the computer program product is executed, the method according to any one of claims 1 to 31 is implemented, or the method according to claim 32 is executed.

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