Perception collaboration method, device, and program product

Abstract

The present disclosure provides a perception collaboration method, device, and program product, which relate to the field of communication technology and are used to improve perception mechanisms and enhance perception performance. The method includes: sending perception collaboration request information to a perception collaboration node; and receiving feedback information of the perception collaboration request information sent by the perception collaboration 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 integrated communication and perception network architecture is a system architecture that supports wireless communication and wireless perception functions, services, and applications. Mobile communication systems consist of two major components: the network and the terminal, and have 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 lack a standardized, unified architecture or paradigm. To achieve integrated communication and perception, the perception system architecture, functional modules, and processes must be aligned with the communication system. The time and frequency domain resources used by perception signals compete or reuse with communication signals. When the perceived target moves in the cellular network and crosses different communication nodes, maintaining the perception performance of the target requires the introduction of a comprehensive 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 perception performance. The technical solutions provided by the embodiments of the present disclosure are as follows:

[0004] In one aspect, a perceptual collaboration method is provided, the method comprising:

[0005] Sending a sensing cooperation request message to the sensing cooperation node;

[0006] Receive feedback information of the perception cooperation request information sent by the perception cooperation node.

[0007] In another aspect, a perceptual collaboration method is provided, the method comprising:

[0008] receiving sensing collaboration request information;

[0009] Send feedback information of the perceived collaboration request information.

[0010] In another aspect, a perception collaboration device is provided, the device comprising:

[0011] A first communication module is configured to send a sensing collaboration request message to the sensing collaboration node;

[0012] The second communication module is configured to receive feedback information of the sensing cooperation request information sent by the sensing cooperation node.

[0013] In another aspect, a perception collaboration device is provided, the device comprising:

[0014] A third communication module is used to receive the sensing collaboration request information;

[0015] The fourth communication module is used to send feedback information of the perception collaboration request information.

[0016] 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 perception collaboration method of any of the above embodiments when executing the computer program instructions.

[0017] 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 perception collaboration device), the perception collaboration method of any of the above embodiments is implemented.

[0018] 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 one of the above embodiments is implemented.

[0019] The technical solution provided by the embodiment of the present disclosure is to send a perception collaboration request message to the perception collaboration node and receive 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 when it understands the actual perception needs. Similarly, the perception collaboration node can also provide its own actual perception status during the perception collaboration process through feedback information to facilitate better 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the architecture of a communication system provided by an embodiment of the present disclosure;

[0021] Figure 2 A flowchart of a perception collaboration method provided by an embodiment of the present disclosure;

[0022] Figure 3 A schematic diagram of an application scenario of a perception collaboration method provided by an embodiment of the present disclosure;

[0023] Figure 4 An interactive flow chart of a perception collaboration method provided by an embodiment of the present disclosure;

[0024] Figure 5 A schematic diagram of another application scenario of the perception collaboration method provided by an embodiment of the present disclosure;

[0025] Figure 6 A schematic diagram of another application scenario of the perception collaboration method provided in an embodiment of the present disclosure;

[0026] Figure 7An interactive flow chart of another perception collaboration method provided by an embodiment of the present disclosure;

[0027] Figure 8 A schematic diagram of another application scenario of the perception collaboration method provided in an embodiment of the present disclosure;

[0028] Figure 9 An interactive flow chart of another perception collaboration method provided by an embodiment of the present disclosure;

[0029] Figure 10 A flowchart of another perception collaboration method provided by an embodiment of the present disclosure;

[0030] Figure 11 A schematic diagram of the structure of a perception cooperation device provided in an embodiment of the present disclosure;

[0031] Figure 12 A schematic diagram of the structure of another perception and cooperation device provided in an embodiment of the present disclosure;

[0032] Figure 13 A schematic structural diagram of a communication device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying 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 embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0034] 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 there can be three relationships. 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 "a plurality" means two or more. Words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not limit them to be necessarily different.

[0035] It should be noted that in this disclosure, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this disclosure as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0036] In existing wireless communication network deployments, both low-frequency and high-frequency base stations exist. Similarly, low-frequency sensing units and high-frequency sensing sites are deployed. The following is a detailed description of sensing in different frequency bands and their application advantages.

[0037] Low-frequency sensing uses the FR1 band (<6 GHz), covering 450 MHz to 6 GHz (Sub-6 GHz). This low-frequency band has a longer wavelength (for example, 3.5 GHz corresponds to a wavelength of approximately 8.6 cm). Its signal has strong penetration and wide-area coverage, making it suitable for sensing a wide range of environments.

[0038] The FR2 frequency band covers 24 GHz to 52.6 GHz (millimeter wave band), with extremely short wavelengths (for example, 28 GHz corresponds to a wavelength of approximately 10.7 mm). Signals are susceptible to attenuation by obstacles, but they offer ultra-large bandwidth (up to 400 MHz for a single carrier) and high spatial resolution, making them suitable for high-precision local perception.

[0039] The terahertz (THz) frequency band encompasses electromagnetic waves between 0.1THz and 10THz, corresponding to wavelengths ranging from approximately 3mm to 30µm. This frequency band, situated between microwaves and infrared light, offers advantages in sensing applications, including high-resolution imaging (shorter wavelengths provide higher spatial resolution than microwaves while still possessing sufficient penetration, making them suitable for security inspections and nondestructive testing) and material identification (THz waves resonate with many molecules, enabling them to identify the composition of specific substances).

[0040] In view of this, the present disclosure provides a perception collaboration method, which includes: sending perception collaboration request information to a perception collaboration node; and receiving feedback information of the perception collaboration request information sent by the perception collaboration node. The perception collaboration request information is helpful in assisting the perception collaboration node to better perform perception collaboration after understanding the actual perception needs. Similarly, the perception collaboration node can also provide its own actual perception status during 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, achieving more accurate perception of the target and meeting actual needs.

[0041] In some embodiments, transmission in the present disclosure includes sending or receiving, such as sending data or signals, or receiving data or signals.

[0042] In this disclosure, the terms "perceived collaboration" and "collaborative perception" have the same meaning and can be used interchangeably.

[0043] The perception and collaboration method provided in the embodiments of the present disclosure can be applied to systems of various communication formats. For example, the perception and collaboration method provided in the embodiments 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 and collaboration method provided in the embodiments of the present disclosure can also be applied to future-oriented communication systems (such as 6G and 7G communication systems), etc., which are not limited by the embodiments of the present disclosure.

[0044] 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.

[0045] 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.

[0046] In some embodiments, the perception control node 110 may be deployed in integration with network elements of an existing core network; or, it may be deployed independently in the core network.

[0047] In some embodiments, the perception control node 110 may be deployed in integration with network elements of an existing access network; or, it may be deployed independently in the access network.

[0048] 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.

[0049] 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.

[0050] In some embodiments, the second perception unit 130 is configured 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.

[0051] 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.

[0052] 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 .

[0053] 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.

[0054] 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.

[0055] 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 .

[0056] 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 perception signals to the target 140. Based on the needs of the perception service, the first data processing module 122 and the second data processing module 132 can upload raw perception data to the perception data processing server 112 for processing, or perform preliminary analysis and feature extraction on the perception data and then upload the processed data to the perception data processing server 112 for subsequent processing.

[0057] 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.

[0058] In some embodiments, the communication node of the access network may be a base station (e.g., BS / gNB), a relay node, or an integrated broadband access (IBA) node.

[0059] 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 this disclosure. Based on the actual scenarios and perceived business requirements, the communication nodes may also have other implementation forms, which are not limited in the embodiments of this disclosure.

[0060] 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.

[0061] 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.

[0062] In some embodiments, the terminal may be a mobile phone, a tablet computer, a computer with wireless transceiver capabilities, 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 care, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, etc. The embodiments of the present disclosure do not limit the application scenarios. The terminal may also sometimes 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.

[0063] It should be noted that Figure 1 This is just an illustrative 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 this disclosure.

[0064] 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. Persons skilled in the art will appreciate 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 equally applicable to similar technical problems.

[0065] The present disclosure provides a method for perceptual collaboration. Figure 2 As shown, the method includes the following steps:

[0066] S101: Sending a perception cooperation request message to a perception cooperation node.

[0067] Among them, the perception collaboration request information includes at least one of the following: collaboration type, collaboration requirement priority, collaborative perception data acquisition mode, collaborative perception data transmission target, collaborative perception area spatial information, wide-area perception environment characteristic map, collaborative perception indicator requirements, collaborative 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.

[0068] In this disclosure, the perception collaboration request information has other names, such as perception collaboration requirement information, perception collaboration requirement, etc., and this disclosure does not limit this.

[0069] In some embodiments, the collaboration type includes at least one of the following:

[0070] Improve perception indicators;

[0071] Fill in the blind spots of perception;

[0072] Improve the type of perception indicators;

[0073] Improve the amplitude of perception indicators;

[0074] Perception frequency domain requirements;

[0075] Requirements for the increase in the perception frequency point;

[0076] Perceived bandwidth improvement requirements;

[0077] Requirements for improvement in perceived duration;

[0078] Refinement amplitude requirements for sensing beam width;

[0079] Adopting first grid perception;

[0080] Local / omnidirectional airspace awareness collaboration;

[0081] Ground perception collaboration / low-altitude perception collaboration;

[0082] Limited time / temporary perception collaboration;

[0083] Periodic sensing collaboration.

[0084] 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 level, and false alarm rate.

[0085] In some embodiments, the sensing frequency domain requirement includes FR2 frequency domain sensing and / or terahertz frequency domain sensing.

[0086] In some embodiments, the collaboration requirement priority includes at least one of the following:

[0087] The priority of users whose sensing services require sensing collaboration;

[0088] Perception business private priorities that require perception collaboration;

[0089] Prioritization of quality of service (QoS) standards for perceived business that require perceived collaboration;

[0090] The priority of sensing services that require sensing cooperation relative to communication services.

[0091] In some embodiments, the acquisition mode of the collaborative sensing data includes at least one of the following:

[0092] Continuously feed back perception data after collaboration begins;

[0093] After the collaboration begins, the perception data is fed back on demand. In some embodiments, the perception data is fed back according to the real-time requirements of the perception collaboration initiating node or the perception control node.

[0094] In some embodiments, the transmission target of the collaborative sensing data includes at least one of the following:

[0095] The target's Internet Protocol (IP) address;

[0096] The target's data processing node identifier (ID) can be used for collaborative sensing data fusion processing.

[0097] In some embodiments, the collaborative sensing area spatial information includes at least one of the following:

[0098] a) Perception coordinate range. For example, the horizontal coordinate range of the collaborative perception target area, such as the length and width of the coordinate range is limited to between 100 meters and 0.01 meters.

[0099] 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: 0 meters to 10 meters; ultra-low altitude perception range: 10 meters to 100 meters; low altitude perception range: 100 meters to 3000 meters.

[0100] c) Perception beam range. For example, this includes matching the range defined by the high-frequency domain perception unit capability, such as the horizontal beam width range of 1 degree to 10 degrees and the vertical beam width range of 1 degree to 20 degrees.

[0101] d) The type of the first grid.

[0102] e) Identification information of the first grid (eg, the range to which the identification of the first grid belongs).

[0103] f) Coordinates of the first grid, including, for example, the center coordinates of the first grid.

[0104] g) The extent of the first grid.

[0105] In some embodiments, the range of the first grid includes at least one of the following:

[0106] The horizontal size range of the collaborative sensing area corresponding to the first grid;

[0107] The vertical size range of the collaborative sensing area corresponding to the first grid;

[0108] The horizontal size range of the first grid;

[0109] The vertical size range of the first grid.

[0110] 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.

[0111] 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.

[0112] 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 levels of 100 meters to 0.01 meters.

[0113] 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.

[0114] 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.

[0115] In some embodiments, the perception service performed by the perception initiating node is grid-based map environment perception, and the perception initiating node uses second-grid perception for the target area. When the perception initiating node determines that high-precision perception collaboration / blind spot filling is required for the target area, it can determine a perception collaboration node itself or through the perception control node, and send a perception collaboration request message to the perception collaboration node.

[0116] The sensing frequency domain range of the sensing initiating node is smaller than that of the sensing coordinating node, which means that the sensing coordinating node supports sensing with a smaller granularity.

[0117] 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.

[0118] The range of the first grid can 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). For other content included in the perception collaboration request information, please refer to the description in other embodiments or examples and will not be repeated here.

[0119] Among them, high-precision perception can be understood as improving the perception accuracy of the target area.

[0120] In some embodiments, the wide-area perception environment feature map includes at least one of the following:

[0121] A wide-area sensing target distribution map generated by the sensing collaboration initiating node, including a map that marks the coordinates and trajectory of each sensing target acquired by wide-area sensing;

[0122] Distribution map of the second grid;

[0123] Perception parameter indicators for wide-area perception.

[0124] In some embodiments, the distribution pattern of the second grid includes at least one of the following:

[0125] A coordinate arrangement diagram of the second grid, including the center coordinates of each second grid;

[0126] 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): 100-1000 meters; 10-meter level (for close-range perception): 10-100 meters.

[0127] 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.

[0128] In some embodiments, the collaborative perception indicator requirements (the range of perception indicators that the perception collaboration nodes are required to meet) include at least one of the following: horizontal resolution, vertical resolution, detection rate, false alarm rate, trajectory integrity rate, confidence, horizontal position accuracy, vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and perception capacity.

[0129] In some embodiments, the applicable indicator range of the FR2 frequency domain sensing node is as follows:

[0130] Horizontal / vertical resolution: 0.1 degree ~ 1 degree;

[0131] Detection rate: 80%-99%;

[0132] False alarm rate: 0.1%-5%;

[0133] Trajectory completeness: 85%-98%;

[0134] Confidence level: 80%-98%;

[0135] Horizontal / vertical position accuracy: 1-10 meters;

[0136] Perceivable speed range: <350m / s;

[0137] Velocity resolution: 0.1-1 m / s;

[0138] Refresh rate: 10-100 times / second;

[0139] Sensing capacity: A single base station can sense 100-1000 targets simultaneously.

[0140] In some embodiments, the applicable indicator range of the terahertz frequency domain sensing node is as follows:

[0141] Horizontal / vertical resolution: 0.01°-0.1°;

[0142] Detection rate: 80%-99%;

[0143] False alarm rate: 0.1%-1%;

[0144] Trajectory completeness: 90%-99%;

[0145] Confidence level: 90%-99%;

[0146] Horizontal / vertical position accuracy: 0.01-0.1 meters;

[0147] Perceivable speed range: <350m / s;

[0148] Velocity resolution: 0.01-0.1 m / s;

[0149] Refresh rate: 50-500 times / second;

[0150] Sensing capacity: A single base station can sense 500-5000 targets simultaneously.

[0151] In some embodiments, the collaborative sensing time information includes at least one of the following: a start time, an end time, a sensing data time granularity, a sensing collaboration period, a collaboration duration per sensing collaboration period, and a sensing time domain configuration of the sensing collaboration initiating node. The sensing time domain configuration of the sensing collaboration initiating node includes a period range, a time offset range, and a combing configuration range for sensing signal transmission (sending and receiving) based on a synchronization signal reference point or a wireless communication signal frame structure. The term "offset" in this disclosure can be understood as an offset and will not be further described.

[0152] 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 combing configuration range for sending and receiving perception signals are provided based on the frame structure of the wireless communication signal.

[0153] In some embodiments, the sensing time domain resource configuration information of the sensing cooperation node includes at least one of the following:

[0154] Perception frame configuration range;

[0155] Perception time slot configuration range;

[0156] 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.

[0157] 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.

[0158] In some embodiments, the interference control information includes at least one of the following:

[0159] The time domain information that the cooperative nodes need to avoid when performing perception cooperation;

[0160] The frequency domain information that the cooperative nodes need to avoid when performing sensing cooperation;

[0161] It is necessary to sense the airspace information that the cooperative nodes should avoid when performing sensing cooperation.

[0162] The time domain information includes at least one of the following: symbol, time slot, frame, and uplink / downlink interference direction. The frequency domain information includes at least one of the following: harmonic frequency band / frequency point, uplink / downlink direction. The spatial domain information includes the sensing beam direction / sensing beam sequence number.

[0163] S102: Receive feedback information of the sensing cooperation request information sent by the sensing cooperation node.

[0164] In some embodiments, the feedback information includes at least one of the following:

[0165] Instruction information for instructing modification of one or more information in the awareness collaboration request information;

[0166] Instruction information used to instruct the sensing cooperation node whether to accept the sensing cooperation;

[0167] Reason for modifying the perceived collaboration request information;

[0168] Reasons for refusing to perceive collaboration.

[0169] In some embodiments, the reason for modifying the awareness collaboration request information or the reason for rejecting the awareness collaboration includes at least one of the following:

[0170] Perceived resource constraints;

[0171] Perception indicators cannot support;

[0172] The priority is low, that is, the perception service that requires collaborative perception has a lower priority than other perception services.

[0173] 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.

[0174] In some embodiments, the deployment location of the perception control node includes at least one of the following:

[0175] Independent deployment in the core network;

[0176] Deployed in conjunction with at least one node in the core network;

[0177] Independent deployment in the access network;

[0178] The node is deployed in conjunction with at least one node in the access network.

[0179] 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.

[0180] In some embodiments, the sensing cooperation initiating node and the sensing cooperation node may be collectively referred to as a sensing node. Sensing nodes include wireless communication base stations, remote radio frequency sites, relay-type sites, FWA-type sites, and mobile devices (such as mobile phones, drones, and vehicle-mounted devices) that deploy sensing function modules.

[0181] In some embodiments, the sensing cooperation initiating node and the sensing cooperation node satisfy at least one of the following:

[0182] The sensing frequency domain range of the sensing cooperation initiating node is different from the sensing frequency domain range of the sensing cooperation node;

[0183] The perception accuracy of the sensing cooperative node is different from the perception accuracy of the sensing cooperative node.

[0184] In some embodiments, the sensing frequency domain range of the cooperation initiating node is a low frequency domain, and the sensing frequency domain range of the cooperation node is a high frequency domain.

[0185] In some embodiments, the perception accuracy of the perception cooperation initiating node is lower than the perception accuracy of the perception cooperation node.

[0186] 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.

[0187] 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).

[0188] For another example, the sensing cooperation initiating node is an FR2 sensing node (eg, 52 GHz) sensing node, and the sensing cooperation node is a terahertz sensing node (eg, 100 GHz).

[0189] 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.

[0190] The data perceived by the cooperative sensing nodes on the target can be sent to the cooperative sensing initiating node, where the sensing processing module of the cooperative sensing initiating node completes data fusion. Alternatively, the data perceived by both the cooperative sensing nodes and the cooperative sensing initiating node can be sent to the sensing data processing center, where data fusion is completed. Alternatively, the data perceived by the cooperative sensing nodes on the target can be sent to the cooperative sensing initiating node, where the cooperative sensing initiating node sends both its own and the cooperative sensing nodes' data on the target to the sensing data processing center, where data fusion is completed.

[0191] The perception data processing center may be located in the perception control node, or located in the core network or access network and independent of the perception control node.

[0192] In some embodiments, the execution entity 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.

[0193] In some embodiments, the execution entity 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 sent by the perception collaboration initiating node; the perception control node receives the 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.

[0194] In some embodiments, the execution subject 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.

[0195] In some embodiments, the execution entity 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.

[0196] In some embodiments, the execution entity of the above S101-S102 is the 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 obtained by itself to obtain fused perception data.

[0197] In some embodiments, the execution entity of the above S101-S102 is the 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.

[0198] In the present disclosure, the number of the perception cooperation nodes, the perception cooperation initiating nodes, and the perception control nodes can be one or more, and the present disclosure does not limit the number.

[0199] The following describes in detail the application of the perception collaboration method provided by the present disclosure in different scenarios in combination with the embodiments.

[0200] Case 1: Perception collaboration based on access network architecture.

[0201] like Figure 3 As shown in the figure, scenario 1 describes sensing collaboration in a radio access network, with gNB-A as the sensing collaboration initiating node and gNB-B as the sensing collaboration node. Both gNB-A and gNB-B are equipped with sensing functions (including a sensing control module and a sensing data processing module). gNB-A operates in the 4.9 GHz frequency band of the FR1 frequency domain, while gNB-B operates in the 28 GHz frequency band of the FR2 frequency domain. gNB-A requests gNB-B to collaborate on sensing functions through the inter-access point interface. They perform collaborative sensing of the target area. gNB-B then feeds high-precision sensing data of the target area back to gNB-A, where the sensing data processing module of gNB-A performs data fusion.

[0202] The signaling interaction process involved in the sensing collaboration in case 1 is as follows: Figure 4 As shown, the following steps are included:

[0203] S201. The perception module of gNB-A decides whether high-precision perception collaboration is required for the target area based on business needs.

[0204] 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:

[0205] 1) The number of perceived obstacles in the target area increases, exceeding the gNB-A's inherent perception and resolution capabilities;

[0206] 2) The perceived target velocity in the target area exceeds the gNB-A’s own perceived velocity resolution;

[0207] 3) If a risky target appears in the target area, the perception accuracy will be improved according to the backend user's requirements;

[0208] 4) The false alarm rate of the target area exceeds the threshold;

[0209] 5) The perceptual confidence of the target area is lower than the threshold.

[0210] After gNB-A confirms the need for high-precision sensing collaboration for the target area, it determines the sensing parameters required for the target area.

[0211] S202: The gNB-A searches for cooperative sensing objects (sensing cooperative nodes) capable of sensing the target area based on the required sensing parameters of the target area. This requires the gNB-A to interact with surrounding sensing nodes in advance and store the sensing capabilities of these nodes.

[0212] S203. gNB-A sends a sensing collaboration request message to the collaboration partner that meets the requirements. (There can be multiple collaboration partners. gNB-A selects one of the partners that has 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:

[0213] 1) The type of collaboration includes at least one of the following:

[0214] 1a) Improving perception indicators / filling blind spots in perception: In this case, select "Improving perception indicators" in 1.

[0215] 1b) Improved perception metrics: This includes at least one of the following: perception accuracy, position resolution, altitude resolution, velocity resolution, perception data refresh rate, target detection rate, confidence level, and false alarm rate.

[0216] 1c) Improvement of Perception Indicators: For each indicator type that requires improvement, indicate the improvement range. The benchmark for improvement is the perception indicators of gNB-A. gNB-A can send its own perception indicators and perception capabilities to the perception cooperation nodes for reference.

[0217] 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.

[0218] 1e) Sensing frequency improvement requirement: In combination with the required indicator improvement, indicate the expected improvement in the frequency supported by the sensing cooperation node relative to the gNB-A.

[0219] 1f) Perception bandwidth improvement requirement: Indicate the expected improvement in bandwidth supported by the perception cooperation node relative to the gNB-A, based on the required indicator improvement.

[0220] 1g) Sensing duration improvement requirement: In combination with the required indicator improvement, indicate the expected improvement in sensing duration supported by the sensing cooperation node relative to the gNB-A.

[0221] 1h) Sensing beamwidth refinement requirement: In combination with the required indicator improvement, indicate the expected improvement in the sensing beamwidth supported by the sensing cooperation node relative to the gNB-A.

[0222] 1i) Fine-grained grid perception: In this scenario, gNB-A does not use a grid-based perception map in the collaboration type, so this field is not required.

[0223] 1j) Local / Omnidirectional Airspace Perception Collaboration: Indicates whether the perception collaboration targets a local area or requires the full airspace perception capability of the perception unit. In this example, you can enter the local area.

[0224] 1k) Limited time / temporary perception collaboration: Indicates that the perception collaboration is within a limited time. This collaboration type can be filled in in this example.

[0225] 1l) Periodic Perception Collaboration: Indicates that the perception collaboration is long-term and periodic. This collaboration type can be filled in in this example.

[0226] 2) Collaboration requirements must prioritize at least one of the following:

[0227] 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 / premium / ordinary user.

[0228] 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 / normal service level.

[0229] 2c) QoS standard priority of the perception service requiring perception collaboration: The QoS level of the perception service in international / national / industry standards.

[0230] 2d) Priority of the perception service relative to the communication service that requires perception collaboration: If the collaborative site is a communication + perception integrated node, the priority of the perception service relative to the communication service can also be indicated. For example, it can indicate at which QoS level the perception service has a higher or lower priority than the communication service.

[0231] 3) Collaborative sensing data acquisition mode: After collaboration begins, sensing data is continuously fed back. For example, sensing and feeding back sensing data continuously based on the refresh rate, without the need for additional signaling control by the gNB-A.

[0232] 4) The transmission objectives of collaborative sensing data include at least one of the following:

[0233] 4a) Target IP address: In this case, the sensing data fusion is performed by the sensing data processing module of gNB-A, so it is filled in with the IP address of gNB-A.

[0234] 4b) Target data processing node ID for collaborative sensing data fusion processing: The node ID of gNB-A can also be entered.

[0235] 5) Collaborative sensing regional spatial information includes at least one of the following:

[0236] 5a) Perception Coordinate Range: This can be in latitude and longitude coordinates, or in privately defined map grid coordinates. For example, the horizontal coordinate range of the collaborative perception target area should be limited to a length and width range of 100 meters to 0.01 meters.

[0237] 5b) Sensing altitude range: This range can be based on altitude or other reference frames. For example, ground sensing range: 0m to 10m; ultra-low altitude sensing range: 10m to 100m; and low altitude sensing range: 100m to 3000m.

[0238] 5c) Sensing beam range: This range matches the range defined by the high-frequency sensing unit capabilities. The horizontal beam width range is 1 to 10 degrees; the vertical beam width range is 1 to 20 degrees. If gNB-A has previously obtained gNB-B's sensing beam layout, it can query the corresponding sensing beam range based on the target area for collaborative sensing and send it to gNB-B as a suggestion.

[0239] 5d) Refined grid coordinates: the coordinates of each grid center.

[0240] 5e) Refined grid range: Matches the range defined by the high-frequency domain perception unit capabilities.

[0241] 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.

[0242] 5e-2) The vertical 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.

[0243] In this case, gNB-A does not use a grid-based perception map in the collaboration type, so options 5d) to 5e) do not need to be filled in.

[0244] 6) The wide-area perception environment feature map includes at least one of the following:

[0245] 6a) Wide-area sensing target distribution map generated by the sensing cooperation initiating node: In this case, it is gNB-A's sensing map, which is sent to gNB-B and serves as a reference for sensing target screening, helping to reduce the false alarm rate of sensing targets.

[0246] 6b) The perceptual resolution of the atlas (horizontal resolution, vertical resolution).

[0247] 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 identifiable targets per unit area).

[0248] These indicators must match the indicator range supported by the perception frequency domain of the collaborative object. In this case, the gNB-B perception module operates in the 28 GHz frequency domain. Its perception indicator requirements are as follows: horizontal / vertical resolution of 50 cm, detection rate of 95%, false alarm rate of 1%, trajectory completeness rate of 99%, confidence level of 95%, horizontal / vertical position accuracy of 10 cm, perceptible speed range of 0-200 km, speed resolution of 0.1 m / s, refresh rate of 50 times / s, and perception capacity of 200 targets / km2.

[0249] 8) Collaboratively perceived time information includes at least one of the following:

[0250] 8a) Start / Stop Time: The start and end time of the perceived collaboration, used for a collaboration mode with a specified duration.

[0251] 8b) Perception data temporal granularity: This is related to the scanning speed of the perception beam and how often the perception map is refreshed.

[0252] 8c) Perception collaboration cycle and collaboration duration per perception collaboration cycle: used for periodic perception collaboration mode.

[0253] 8d) Sensing time domain configuration of the cooperation initiating node: For example, the sensing time domain offset of gNB-A is configured to be the fifth 1ms frame of every 10ms radio frame.

[0254] 8e) The sensing time offset range of the cooperative node relative to the cooperative node: The two nodes may have different sensing time domain configurations, resulting in inconsistent sensing data acquisition times. When fusing data, it is important to ensure that the offsets do not differ significantly. For example, if gNB-A's sensing time domain offset is configured to be the fifth 1ms frame of every 10ms radio frame, gNB-B's sensing time domain offset configuration should not differ significantly from that of gNB-A. For example, the range should be configured to be within plus or minus 5ms to avoid excessive misalignment during data fusion.

[0255] 9) The collaborative sensing time / frequency domain resource configuration information includes at least one of the following:

[0256] Sensing frame / time slot configuration range (the sensing time domain of the cooperating node should be matched as closely as possible with the sensing time domain of the initiating cooperating node to reduce the increase in sensing data fusion errors caused by time mismatch): If gNB-A obtains the sensing frame format configuration of gNB-B in advance, gNB-A can recommend the appropriate frame format, sensing time slot, and sensing symbol configuration to gNB-B.

[0257] 10) Interference control information includes at least one of the following:

[0258] 10a) Time domain information (symbol, time slot, frame, and uplink / downlink interference direction) that needs to be avoided by the cooperating nodes when performing sensing cooperation: When gNB-A obtains the uplink and downlink frame formats of gNB-B in advance, if harmonic interference exists in the operating frequency domains of gNB-A and gNB-B, time domain avoidance can be used. It is recommended that the sensing time domain of gNB-B be staggered with that of gNB-B.

[0259] 10b) Frequency domain information (harmonic frequency bands / points, uplink and downlink directions) that the sensing nodes need to avoid when performing sensing cooperation: If the gNB-B supports frequency division sensing, it can be recommended that the gNB-B's sensing frequency band avoid frequency bands with harmonic interference.

[0260] 10c) Information about the airspace 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 conflict, gNB-B may be advised to adjust its sensing beam to avoid gNB-A's sensing beam.

[0261] S204. The gNB-B decides whether to accept the sensing cooperation request. The decision is based on, but not limited to, at least one of the following:

[0262] 1) Whether the self-perception ability indicators meet the requirements;

[0263] 2) Whether the perceptible area meets the requirements;

[0264] 3) Whether it meets the interference control requirements;

[0265] 4) Whether its own frame structure and time domain resource configuration meet the time domain requirements of collaboration;

[0266] 5) Whether collaborative sensing will cause resource conflicts or overload for other businesses (such as communication services or sensing services), thereby creating service risks for the business itself.

[0267] If the decision result is that the sensing collaboration is acceptable, feedback information is sent to gNB-A. The feedback information includes the 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 determined by itself.

[0268] If the decision result is to reject the sensing collaboration, feedback information is sent to gNB-A. The feedback information includes the 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 the own business).

[0269] 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. Based on the sensing negotiation result, gNB-B senses the target area and obtains sensing data for the target area.

[0270] S206. gNB-B feeds back the perception data of the target area to gNB-A.

[0271] S207. gNB-A fuses the high-precision perception data with its own perception data of the target area (soft fusion).

[0272] S208. When gNB-A determines that the target area no longer requires sensing collaboration, it proactively sends a sensing collaboration termination message to gNB-B.

[0273] Case 2: Perception collaboration based on perception control nodes.

[0274] refer to Figure 5 or Figure 6 As shown in Figure 2, in a 5G wireless network, both gNB-A and gNB-B are deployed with sensing functions (including a sensing control module and a sensing data processing module). The 5G core network domain deploys a sensing control node (including a sensing function control entity and a sensing data processing server) and an AMF. The sensing function control entity is responsible for controlling sensing units in the wireless network, while the sensing data processing server is responsible for parsing, fusing, and processing sensing measurement data. The two can be deployed independently or in combination. In this scenario, the sensing data processing modules of gNB-A and gNB-B can upload raw sensing data to the sensing data processing server for processing, or perform preliminary parsing and feature extraction on the sensing data and then upload the processed data to the sensing data processing server for subsequent processing, depending on the needs of the sensing service.

[0275] The operating frequency band of gNB-A is 4.9GHz in the FR1 frequency domain, and the operating 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 collaboration negotiation and perception collaboration.

[0276] In this case, the perception service performed by gNB-A's perception module is grid-based map environment perception. After preliminary analysis of the perception data, gNB-A's perception module discovers 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 cooperation request to the core network perception function control entity, which selects a suitable collaboration partner (gNB-B in this case) to initiate the perception cooperation request.

[0277] The specific signaling interaction process involved in the perception collaboration in case 2 is as follows: Figure 7 As shown, the following steps are included:

[0278] S301: The perception function control entity initiates a perception service establishment request (using a large grid perception map) to the low-frequency FR1 perception node gNB-A. This service requires the provision of a perception map in a grid mode, which can adopt one of two modes:

[0279] Single-layer grid: Use a grid of uniform scale to divide the entire gNB-A perception map.

[0280] Multi-layer grid: The entire gNB-A perception map is divided into multiple layers of grids of different scales. Each layer of grids has a different size. Large grids can overlap with smaller grids (containing multiple small grids) or not overlap with smaller grids (each covering a different area).

[0281] For example, Figure 5 Medium perception services use 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 Medium-frequency sensing services use 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 with grid IDs 18, 19, 20, 21, 22, and 23). The high-frequency sensing node, gNB-B, uses a small grid sensing map (for example, it can sense areas with grid IDs 194, 195, 196, 197, and 199 within grid ID 22, and areas with grid IDs 200, 201, 202, 205, and 206 within grid ID 23). The following steps provide examples using these two grid modes.

[0282] S302. gNB-A starts sensing service execution (obtaining large grid sensing data).

[0283] S303. The perception control module of gNB-A decides whether perception collaboration is required based on service requirements. In this case, the perception control module of gNB-A screens out perception blind spots and determines whether perception collaboration is required.

[0284] by Figure 5 For example, the blind spot of gNB-A is selected to correspond to grid ID 98, and grid ID 98 is used as the target grid for collaborative sensing with gNB-B (collaborative sensing is performed through the sensing beam sent by gNB-B).

[0285] by Figure 6 For example, the blind spot of gNB-A is selected to correspond to the small grid ID 196 within the large grid ID 22. Small grid ID 196 is used as the target grid for collaborative sensing with gNB-B (collaborative sensing is performed through the sensing beam emitted by gNB-B).

[0286] gNB-A determines the perception parameters required to fill the target perception blind spot and selects a collaboration partner. 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.

[0287] S304. gNB-A sends a sensing collaboration request message to the core network sensing function control entity. The sensing collaboration request message includes at least one of the following:

[0288] 1) Collaboration Type:

[0289] 1a) Improve perception indicators / fill blind spots in perception: In this case, select "Fill blind spots in perception."

[0290] Improved perception indicator types: including at least one of the following: perception accuracy, position resolution, altitude resolution, speed resolution, perception data refresh rate, target detection rate, confidence level, and false alarm rate.

[0291] 1b) Improving the Amplitude of Perception Indicators: For each indicator type that requires improvement, indicate the range of improvement. The benchmark for improvement is the perception indicators of gNB-A. gNB-A can send its own perception indicators and perception capabilities to the perception cooperation nodes for reference.

[0292] 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.

[0293] 1d) Sensing frequency increase requirement: In combination with the required indicator increase, indicate the expected increase in the frequency supported by the sensing cooperation node relative to the gNB-A.

[0294] 1e) Perception bandwidth improvement requirement: In combination with the required indicator improvement, indicate the expected improvement in bandwidth supported by the perception cooperation node relative to the gNB-A.

[0295] 1f) Sensing duration improvement requirement: Indicate the expected improvement in the sensing duration supported by the sensing cooperation node relative to the gNB-A, based on the required indicator improvement.

[0296] 1g) Sensing beamwidth refinement requirement: In combination with the required indicator improvement, indicate the improvement in the sensing beamwidth supported by the desired sensing cooperation node relative to the gNB-A.

[0297] 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 based on the identified perception blind area (small grid ID 196).

[0298] 1i) Local / Omnidirectional Airspace Perception Collaboration: Indicates whether the perception collaboration targets a local area or requires the full airspace perception capability of the perception unit. In this example, the local area can be entered.

[0299] 1j) Limited time / temporary perception collaboration: indicates that the perception collaboration is within a limited time. This collaboration type can be filled in in this example.

[0300] 1k) Periodic Perception Collaboration: Indicates that the perception collaboration is long-term and periodic. This collaboration type can be filled in in this example.

[0301] 2) Collaboration requirements must prioritize at least one of the following:

[0302] 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 / premium / ordinary user.

[0303] 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 / normal service level.

[0304] 2c) QoS standard priority of the perception service requiring perception collaboration: The QoS level of the perception service in international / national / industry standards.

[0305] 2d) Priority of the perception service relative to the communication service that requires perception collaboration: If the collaborative site is a communication + perception integrated node, the priority of the perception service relative to the communication service can also be indicated. For example, it can indicate at which QoS level / private priority the perception service has a higher or lower priority than the communication service.

[0306] 3) The acquisition mode of collaborative sensing data includes at least one of the following:

[0307] 3a) Continuous feedback of sensing data after collaboration begins: For example, continuous sensing and feedback of sensing data based on a refresh rate, without the need for additional signaling control by the gNB-A;

[0308] 3b) Feedback of sensing data on demand after collaboration starts: For example, gNB-B does not start sensing immediately after collaboration starts. It only senses and feeds back data after receiving a sensing instruction from gNB-A. The sensing instruction may include sensing in the time domain, frequency domain, spatial domain, and sensing indicator configuration.

[0309] 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.

[0310] 5) Collaborative sensing regional spatial information includes at least one of the following:

[0311] 5a) Sensing beam range: If gNB-A has obtained its sensing beam layout map in advance, it can query the corresponding sensing beam range based on the target grid for collaborative sensing and send it to gNB-B as a suggestion.

[0312] 5b) Grid type: small grid (fine grid) (such as Figure 6 A grid of the size of the small or medium grid id 196 or at least one grid that can cover the small grid id 196).

[0313] 5c) Refined grid identification information, such as the refined grid ID range;

[0314] 5d) Refined grid coordinates, such as grid center coordinates and target grid coordinates (horizontal and vertical coordinates) requiring collaborative sensing;

[0315] 5e) Refined Grid Range: Predefined 3D map grid settings and grid size (horizontal and vertical ranges). The grid size can be set based on the predefined small grid size for the perception service, for example, 50 meters.

[0316] 6) The wide-area perception environment feature map includes at least one of the following:

[0317] 6a) Wide-area sensing target distribution map generated by the sensing cooperation initiating node: In this case, it is gNB-A's sensing grid map, which is sent to gNB-B and serves as a reference for sensing target screening, helping to reduce the false alarm rate of sensing targets.

[0318] 6b) The perceptual resolution of the atlas (horizontal resolution, vertical resolution).

[0319] 7) Collaborative perception indicators must include at least one of the following: horizontal / vertical resolution, detection rate, false alarm rate, trajectory integrity rate, confidence level, horizontal / vertical position accuracy, perceptible speed range, speed resolution, refresh rate, and perception capacity (the number of identifiable targets per unit area).

[0320] These indicators must match the indicator range supported by the perception frequency domain of the collaborative object. In this case, the gNB-B perception module operates in the 28 GHz frequency domain. Its perception indicator requirements are as follows: horizontal / vertical resolution of 50 cm, detection rate of 95%, false alarm rate of 1%, trajectory completeness rate of 99%, confidence level of 95%, horizontal / vertical position accuracy of 10 cm, perceptible speed range of 0-200 km, speed resolution of 0.1 m / s, refresh rate of 50 times / s, and perception capacity of 200 targets / km2.

[0321] 8) Collaboratively perceived time information includes at least one of the following:

[0322] 8a) Start / Stop Time: The start and end time of the perceived collaboration, used for a collaboration mode with a specified duration.

[0323] 8b) Perception data temporal granularity: This is related to the scanning speed of the perception beam and how often the perception map is refreshed.

[0324] 8c) Perception collaboration cycle and collaboration duration per perception collaboration cycle: used for periodic collaboration mode.

[0325] 8d) Sensing time domain configuration of the cooperation initiating node: For example, the sensing time domain offset of gNB-A is configured to be the fifth 1ms frame of every 10ms radio frame.

[0326] 8e) The sensing time offset range of the cooperative node relative to the cooperative node: The two nodes may have different sensing time domain configurations, resulting in inconsistent sensing data acquisition times. When fusing data, it is important to ensure that the offsets do not differ significantly. For example, if gNB-A's sensing time domain offset is configured to be the fifth 1ms frame of every 10ms radio frame, gNB-B's sensing time domain offset configuration should not differ significantly from that of gNB-A. For example, the range should be configured to be within plus or minus 5ms to avoid excessive misalignment during data fusion.

[0327] 9) The collaborative sensing time / frequency domain resource configuration information includes at least one of the following:

[0328] Sensing frame / time slot configuration range (the sensing time domain of the cooperating node should be matched as closely as possible with the sensing time domain of the initiating cooperating node to reduce the increase in sensing data fusion errors caused by time mismatch): If gNB-A obtains the sensing frame format configuration of gNB-B in advance, gNB-A can recommend the appropriate frame format, sensing time slot, and sensing symbol configuration to gNB-B.

[0329] 10) Interference control information includes at least one of the following:

[0330] 10a) Time domain information (symbol, time slot, frame, and uplink / downlink interference direction) that the cooperating nodes need to avoid when performing sensing cooperation: When gNB-A obtains the uplink and downlink frame formats of gNB-B in advance, if harmonic interference exists in the operating frequency domains of gNB-A and gNB-B, time domain avoidance can be used. It is recommended that the sensing time domain of gNB-B be staggered with that of gNB-B.

[0331] 10b) Frequency domain information (harmonic frequency bands / points, uplink and downlink directions) that the sensing nodes need to avoid when performing sensing cooperation: If the gNB-B supports frequency division sensing, it can be recommended that the gNB-B's sensing frequency band avoid frequency bands with harmonic interference.

[0332] 10c) Information about the airspace 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 conflict, gNB-B may be advised to adjust its sensing beam to avoid gNB-A's sensing beam.

[0333] S305. The perception function control entity searches for collaborative perception objects (perception cooperation nodes) with the target area perception capability based on the perception cooperation request information. This requires that the perception function control entity has previously acquired the nodes with perception capability in the service area and saved the perception capabilities of these nodes.

[0334] S306. The perception function control entity selects gNB-B and forwards the perception cooperation request information (including the small grid perception map) to it.

[0335] S307. gNB-B decides whether to accept sensing cooperation. The decision is based on, but not limited to, at least one of the following:

[0336] 1) Whether the self-perception ability indicators meet the requirements;

[0337] 2) Whether the perceptible area meets the requirements;

[0338] 3) Whether it meets the interference control requirements;

[0339] 4) Whether its own frame structure and time domain resource configuration meet the time domain requirements of collaboration;

[0340] 5) Whether collaborative sensing will cause resource conflicts or overload for other businesses (such as communication services or sensing services), thereby creating service risks for the business itself.

[0341] 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 of 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.

[0342] If the decision result is to reject collaboration, feedback information will be sent to the perception function control entity. The feedback information includes instruction information for 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 its own business).

[0343] S308. The perception function control entity forwards the feedback information to gNB-A.

[0344] S309. If gNB-B performs collaborative sensing, it determines the sensing collaboration configuration based on the sensing request information. Based on the sensing collaboration configuration, it senses the target area and obtains sensing data (including sensing data of small grids).

[0345] S310. The gNB-B feeds back the perception data (including the perception data of the small grid) to the perception function control entity.

[0346] S311. gNB-A uploads perception data (including large-grid perception data / wide-area perception grid map data) to the perception data processing server in the core network area.

[0347] S312. The perception data processing server fuses the perception data of gNB-A and gNB-B by splicing the perception data in a grid (also known as perception map combination).

[0348] Among them, grid-type perception is not limited to the fusion method of splicing. In this example, a collaborative method similar to that in Case 1 can also be implemented to fuse high-precision and low-precision perception data in the same grid from different perception units.

[0349] S313. When gNB-A believes that the target area no longer requires sensing collaboration, it proactively sends a sensing collaboration termination message to the sensing function control entity.

[0350] S314. The sensing function control entity forwards the sensing cooperation termination message to gNB-B.

[0351] Case 3: Perception collaboration initiated by the perception control node.

[0352] refer to Figure 8As shown in Figure 3, in a 5G wireless network, gNB-A / B / C are all deployed with sensing functions (including a sensing control module and a sensing data processing module). A sensing function control entity and a sensing data processing server are deployed in a third-party area (which can be the core network domain or the access network domain). The sensing function control entity is responsible for controlling the sensing units in the wireless network, and the sensing data processing server is responsible for parsing, fusing, and processing sensing measurement data. The two can be deployed independently or in combination. In this scenario, the sensing data processing module of gNB-A / B / C can upload raw sensing data to the sensing data processing server for processing, or perform preliminary parsing and feature extraction on the sensing data and then upload the processed data to the sensing data processing server for subsequent processing, depending on the needs of the sensing service.

[0353] The operating frequency band of gNB-A is 4.9 GHz in the FR1 frequency domain, the operating frequency band of gNB-B is 28 GHz in the FR2 frequency domain, and the operating frequency band of gNB-C is 32 GHz in the FR2 frequency domain. Based on the needs of the perception service, the perception function control entity discovers 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 sequence as needed based on the target's trajectory and arrival location.

[0354] The specific signaling interaction process involved in the sensing collaboration in case 3 is as follows: Figure 9 As shown, the following steps are included:

[0355] S401. The perception function control entity initiates a perception service establishment request to the low-frequency FR1 perception node gNB-A.

[0356] S402: The perception function control entity decides whether to initiate perception collaboration (high-precision perception of the target area) for the target area based on business needs.

[0357] For example, in this scenario, the perception service backend identifies a target to be tracked in gNB-A's wide-area perception map and requests improved perception accuracy and refresh rate. The backend then notifies the perception function control entity. The perception function control entity then determines the collaborative perception parameters required for the target area based on the backend's requirements.

[0358] 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 improved perception accuracy and refresh rate. The perception function control entity then formulates the collaborative perception parameters required for the target area based on the requirements.

[0359] S403: The perception function control entity searches for a collaborative sensing target with the target area sensing capability based on the collaborative sensing parameters. In this case, assuming the tracking target enters the sensing area of gNB-B first, the perception function control entity first selects gNB-B as the collaborative target.

[0360] S404. The perception function control entity sends a perception collaboration request message to gNB-B. The content of the perception collaboration request message is similar to that in Case 1 and is not described here again. (In this case, the upload address of the collaborative perception data is the perception data processing server.)

[0361] S405. gNB-B decides whether to accept sensing cooperation. The decision is based on reference scenario 1 and will not be repeated here.

[0362] If the decision result is that the sensing collaboration is acceptable, feedback information is sent to gNB-A. The feedback information includes the 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 determined by itself.

[0363] If the decision result is to reject the sensing collaboration, feedback information is sent to gNB-A. The feedback information includes the 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 the own business).

[0364] 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 sensing data of the target area.

[0365] S407. The gNB-B feeds back the perception data (including high-precision perception data) of the target area to the perception data processing server.

[0366] S408. gNB-A feeds back the perception data (including wide-area perception data) to the perception data processing server.

[0367] S409. The perception data processing server performs soft fusion on the perception data of gNB-B and the perception data of gNB-A.

[0368] S410: When the perception function control entity recognizes that the tracking target is about to leave the perception area of the gNB-B (for example, whether to stop the perception collaboration with the gNB-B can be determined based on the location of the tracking target or the decrease in the confidence level of the perception data), it considers that it is necessary to terminate the perception collaboration with the gNB-B, replace the collaboration partner with a new one, and proactively sends a perception collaboration termination message to the gNB-B.

[0369] 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 improved perception accuracy of the tracked target.

[0370] Case 4: Feedback of collaborative perception data on demand.

[0371] In cases 1 to 3, the feedback mode of collaborative perception data can be adopted: 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. It 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.

[0372] The large grid and small grid in each embodiment or example are used to more clearly represent the relative concepts of different grid granularities. The large grid can be the second grid defined in this disclosure, and the small grid can be the first grid defined in this 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 nodes that can perceive using the large grid may be smaller than the perception accuracy (or perception frequency domain range) of nodes that perceive using the small grid. The range of the large grid and the range of the small grid can be predefined for specific scenarios.

[0373] Based on this, by sending a perception collaboration request message to the perception collaboration node and receiving feedback information on the perception collaboration request message sent by the perception collaboration node. The perception collaboration request message helps the perception collaboration node better understand the actual perception needs and perform perception collaboration. Similarly, the perception collaboration node can also provide its own actual perception status during the perception collaboration process through feedback information to facilitate better perception collaboration. The disclosed embodiment improves the perception collaboration mechanism, achieving more accurate perception of the target and meeting actual needs.

[0374] The present disclosure provides a method for perceptual collaboration. Figure 10 As shown, the method includes the following steps:

[0375] S501: Receive perception collaboration request information.

[0376] 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.

[0377] In some embodiments, the collaboration type includes at least one of the following:

[0378] Improve perception indicators;

[0379] Fill in the blind spots of perception;

[0380] Improve the type of perception indicators;

[0381] Improve the amplitude of perception indicators;

[0382] Perception frequency domain requirements;

[0383] Requirements for the increase in the perceived frequency point;

[0384] Perceived bandwidth improvement requirements;

[0385] Requirements for improvement in perceived duration;

[0386] Refinement amplitude requirements for sensing beam width;

[0387] Adopting first grid perception;

[0388] Local / omnidirectional airspace awareness collaboration;

[0389] Ground perception collaboration / low-altitude perception collaboration;

[0390] Limited time / temporary perception collaboration;

[0391] Periodic sensing collaboration.

[0392] 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 level, and false alarm rate.

[0393] In some embodiments, the sensing frequency domain requirement includes FR2 frequency domain sensing and / or terahertz frequency domain sensing.

[0394] In some embodiments, the collaboration requirement priority includes at least one of the following:

[0395] The priority of users whose sensing services require sensing collaboration;

[0396] Perception business private priorities that require perception collaboration;

[0397] Prioritization of perceived business service quality standards that require perceived collaboration;

[0398] The priority of sensing services that require sensing cooperation relative to communication services.

[0399] In some embodiments, the acquisition mode of the collaborative sensing data includes at least one of the following:

[0400] Continuously feed back perception data after collaboration begins;

[0401] After the collaboration begins, the perception data is fed back on demand.

[0402] In some embodiments, the transmission target of the collaborative sensing data includes at least one of the following:

[0403] The network protocol address of the target;

[0404] The data processing node ID of the target.

[0405] In some embodiments, the collaborative sensing area spatial information includes at least one of the following:

[0406] Perception coordinate range;

[0407] Perception altitude range;

[0408] Perception beam range;

[0409] The type of the first grid;

[0410] identification information of the first grid;

[0411] The coordinates of the first grid;

[0412] The extent of the first grid.

[0413] In some embodiments, the range of the first grid includes at least one of the following:

[0414] The horizontal size range of the collaborative sensing area corresponding to the first grid;

[0415] The vertical size range of the collaborative sensing area corresponding to the first grid;

[0416] The horizontal size range of the first grid;

[0417] The vertical size range of the first grid.

[0418] In some embodiments, the wide-area perception environment feature map includes at least one of the following:

[0419] Wide-area sensing target distribution map generated by the sensing collaboration initiating node;

[0420] Distribution map of the second grid;

[0421] Perception parameter indicators for wide-area perception.

[0422] 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.

[0423] 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.

[0424] In some embodiments, the collaboration awareness indicator requirement includes at least one of the following:

[0425] 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.

[0426] In some embodiments, the collaboratively aware time information includes at least one of the following:

[0427] 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.

[0428] In some embodiments, the sensing time domain resource configuration information of the sensing cooperation node includes at least one of the following:

[0429] Perception frame configuration range;

[0430] Perception time slot configuration range;

[0431] 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.

[0432] 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.

[0433] In some embodiments, the interference control information includes at least one of the following:

[0434] The time domain information that the cooperative nodes need to avoid when performing perception cooperation;

[0435] The frequency domain information that the cooperative nodes need to avoid when performing sensing cooperation;

[0436] It is necessary to sense the airspace information that the cooperative nodes should avoid when performing sensing cooperation.

[0437] In some embodiments, the feedback information includes at least one of the following:

[0438] Instruction information for instructing modification of one or more information in the awareness collaboration request information;

[0439] Instruction information used to instruct the sensing cooperation node whether to accept the sensing cooperation;

[0440] Reason for modifying the perceived collaboration request information;

[0441] Reasons for refusing to perceive collaboration.

[0442] In some embodiments, the reason for modifying the awareness collaboration request information or the reason for rejecting the awareness collaboration includes at least one of the following:

[0443] Perceived resource constraints;

[0444] Perception indicators cannot support;

[0445] Low priority.

[0446] S502: Send feedback information of the perceived collaboration request information.

[0447] In some embodiments, the feedback information includes at least one of the following:

[0448] Indication information for indicating modification of one or more requirements in the awareness collaboration request information;

[0449] Instruction information used to instruct the sensing cooperation node whether to accept the sensing cooperation;

[0450] Reason for modifying the perceived collaboration request information;

[0451] Reasons for refusing to perceive collaboration.

[0452] In some embodiments, the reason for modifying the awareness collaboration request information or the reason for rejecting the awareness collaboration includes at least one of the following:

[0453] Perceived resource constraints;

[0454] Perception indicators cannot support;

[0455] Low priority.

[0456] 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.

[0457] The above mainly introduces the scheme of the embodiment of the present disclosure from the perspective of method. A perception collaboration device is also shown below for executing 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 each function; 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.

[0458] The embodiment of the present disclosure can divide the functional modules of the perception cooperation device according to the above-mentioned method embodiment. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one functional module. The above-mentioned integrated modules can be implemented in the form of hardware or software. It should be noted that the division of modules in the embodiment of the present disclosure is schematic and is only a logical function division. There may be other division methods in actual implementation. The following is an example of dividing each functional module corresponding to each function.

[0459] Figure 11 6 is a schematic diagram of a sensing and cooperation device provided by an embodiment of the present disclosure. The sensing and cooperation device includes: a first communication module 61, a second communication module 62 and a processing module 63.

[0460] The first communication module 61 is configured to send a sensing collaboration request message to the sensing collaboration node;

[0461] The second communication module 62 is configured to receive feedback information of the sensing cooperation request information sent by the sensing cooperation node.

[0462] In some embodiments, the awareness cooperation device is applied to the awareness cooperation initiating node or the awareness control node.

[0463] In some embodiments, the deployment location of the perception control node includes at least one of the following:

[0464] Independent deployment in the core network;

[0465] Deployed in conjunction with at least one node in the core network;

[0466] Independent deployment in the access network;

[0467] The node is deployed in conjunction with at least one node in the access network.

[0468] 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.

[0469] In some embodiments, the perception collaboration device is applied to the perception control node, and the second communication module 62 is also used to receive the first perception data sent by the perception collaboration initiating node; 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 to obtain fused perception data.

[0470] In some embodiments, the perception cooperation device is applied to the perception control node, the second communication module 62 is further used to receive the 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.

[0471] In some embodiments, the perception collaboration device is applied to the perception control node, and the second communication module 62 is further used to receive the first perception data and the 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.

[0472] 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 obtained by itself to obtain fused perception data.

[0473] 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.

[0474] 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 section above and will not be repeated here.

[0475] Figure 12 FIG2 is a schematic diagram of another sensing and cooperation device provided by an embodiment of the present disclosure. The sensing and cooperation device includes: a third communication module 71 and a fourth communication module 72 .

[0476] The third communication module 71 is configured to receive the sensing collaboration request information;

[0477] The fourth communication module 72 is used to send feedback information of the perception collaboration request information.

[0478] 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 and a description of the beneficial effects, etc., please refer to the corresponding method embodiment section above and will not be repeated here.

[0479] It should be noted that Figure 11 、 Figure 12 The modules in the system can also be called units, for example, the communication module can be called a communication unit. Figure 11 、 Figure 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.

[0480] Figure 11 、 Figure 12 If the various units or modules are implemented in the form of software functional 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, or the part that contributes to the relevant technology, or all 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 and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute 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, and other media that can store program code.

[0481] 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. Figure 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.

[0482] Processor 802 may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of this disclosure. 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 device, a transistor logic device, a hardware component, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of this disclosure. Processor 802 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, or a combination of a DSP and a microprocessor.

[0483] The communication interface 803 is used to connect to other devices via a communication network, such as Ethernet, wireless access network, or wireless local area network (WLAN).

[0484] The memory 801 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0485] As a possible implementation, memory 801 can exist independently of processor 802 and can be connected to processor 802 via bus 804 to store instructions or program codes. When processor 802 calls and executes the instructions or program codes stored in memory 801, the perception cooperation method provided in the embodiments of the present disclosure can be implemented.

[0486] In another possible implementation, the memory 801 may also be integrated with the processor 802 .

[0487] 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, Figure 13 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0488] Some embodiments of the present disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium), which stores computer program instructions. 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.

[0489] In an exemplary embodiment, the computer may be the aforementioned communication device, and the present disclosure does not limit the specific form of the computer.

[0490] 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 magnetic tapes), 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 (EPROM), cards, sticks, or key drives, etc.). The various computer-readable storage media described in this 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.

[0491] An embodiment of the present disclosure provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the perceptual collaboration method described in any one of the above embodiments.

[0492] The above is only a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or replacements within the technical scope disclosed in the present disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection 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; receiving feedback information of the sensing cooperation request information sent by the sensing cooperation node; Among them, the perception collaboration request information includes at least the collaboration type, the collaboration perception area spatial information and the wide-area perception environment characteristic map; the collaboration type includes the use of the first grid perception; the collaboration perception area spatial information includes the range of the first grid; the wide-area perception environment characteristic map includes the distribution map of the second grid; the perception collaboration initiating node uses the second grid perception; the granularity of the first grid is smaller than the granularity of the second grid.

2. The method according to claim 1, characterized in that The perception collaboration request information also includes at least one of the following: collaboration requirement priority, collaboration perception data acquisition mode, collaboration perception data transmission target, 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.

3. The method according to claim 1, characterized in that The collaboration type also includes at least one of the following: Improve perception indicators; Fill in the blind spots of perception; Improve the type of perception indicators; Improve the amplitude of perception indicators; Perception frequency domain requirements; Requirements for the increase in the perception frequency point; Perceived bandwidth improvement requirements; Requirements for improvement in perceived duration; Refinement amplitude requirements for sensing beam width; Local / omnidirectional airspace awareness collaboration; Ground perception collaboration / low-altitude perception collaboration; Limited time / temporary perception 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 level, and false alarm rate.

5. The method according to claim 3, characterized in that The perception frequency domain requirements include 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; Perception business private priorities that require perception 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 1, characterized in that The collaborative sensing area spatial information also includes at least one of the following: Perception coordinate range; Perception altitude range; Perception beam range; The type of the first grid; identification information of the first grid; The coordinates of the first grid.

10. The method according to claim 1, 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; 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.

11. The method according to claim 1, wherein The wide-area perception environment feature map also includes at least one of the following: A wide-area sensing target distribution map generated by the sensing cooperation initiating node; Perception parameter indicators for wide-area perception.

12. The method according to claim 1, 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 indicators of the wide-area perception include 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 collaborative awareness indicator requirements 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.

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; Perception time slot configuration range; The upper limit allowed by 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, wherein The feedback information includes at least one of the following: instruction information for instructing modification of one or more information in the perception collaboration request information; Instruction information for indicating whether the sensing cooperation node accepts sensing cooperation; a reason for modifying the perception 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 conjunction 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 meet at least one of the following requirements: 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, wherein 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, wherein 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, wherein 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 and the second perception data acquired by the user are fused to obtain fused perception data.

31. The method according to claim 21, wherein 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; Send the second perception data and the first perception data to the perception control node.

32. A perceptual collaboration method, characterized in that: The method comprises: receiving sensing collaboration request information; Sending feedback information of the sensing collaboration request information; Among them, the perception collaboration request information includes at least the collaboration type, the collaboration perception area spatial information and the wide-area perception environment characteristic map; the collaboration type includes the use of the first grid perception; the collaboration perception area spatial information includes the range of the first grid; the wide-area perception environment characteristic map includes the distribution map of the second grid; the perception collaboration initiating node uses the second grid perception; the granularity of the first grid is smaller than the granularity of the second grid.

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, it 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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