Sensing node determination method, sensing method, device and system, network equipment and storage medium

Abstract

The invention provides a method for determining a sensing node in a wireless communication network, and the method comprises the steps: determining the sensing node according to the type of a sensing target; wherein the sensing node is used for sensing a sensing target; the type of the sensing target comprises a first type and a second type, the sensing target of the first type is a sensing target with a communication function, and the sensing target of the second type is a sensing target without a communication function. Through the method provided by the invention, the sensing node can be determined for the sensing target of the second type without a communication function, and then the determined sensing node is used for sensing the sensing target without the communication function, so that the sensing range can be expanded, and global sensing is realized; and secondly, by distinguishing the types of the sensing targets, the sensing nodes which are more suitable for sensing the sensing targets can be selected, so that the sensing efficiency and the sensing precision are improved.

Description

Technical Field

[0001] This application relates to the field of wireless communication technologies, and in particular, to a method for determining a sensing node, a sensing method, a device, a system, a network device, and a storage medium. Background Art

[0002] 5G-A (5G-Advanced) and the future sixth-generation mobile communication technology (6th generation mobile communication technology, abbreviated as 6G) will be a new generation of information network integrating communication, sensing, computing, big data, artificial intelligence (abbreviated as AI), and security. Integrated Sensing and Communication (ISAC) enables the network to evolve from transmitting information to sensing the world, facilitating the transformation from "Internet of Everything" to the "Digital Twin" world that combines virtual and physical realities.

[0003] The sensing mode is divided into independent sensing and network cooperative sensing. When performing network cooperative sensing, node A sends a sensing signal, which is reflected by the sensing target and then cooperatively received by other nodes. In related technologies, when performing network cooperative sensing, it is assumed that all nodes in the entire network will participate in sensing, or there are no restrictions on the nodes participating in sensing. Since there are many nodes participating in sensing and there are uplink and downlink cross-link interferences among the sensing nodes, interference coordination and interference avoidance designs need to be carried out during sensing, and the design is relatively complex. Summary of the Invention

[0004] This application provides a method for determining a sensing node. The method for determining a sensing node includes: determining a sensing node according to the type of a sensing target; the sensing node is used to sense the sensing target; and the type of the sensing target includes a first type and a second type; the sensing target of the first type is a sensing target with communication functions, and the sensing target of the second type is a sensing target without communication functions.

[0005] In the embodiments of this application, by distinguishing the types of sensing targets and then determining the sensing nodes according to the types of sensing targets, sensing nodes can be determined for the sensing targets of the second type without communication functions, and then the determined sensing nodes can be used to sense the sensing targets without communication functions, which can expand the sensing range and achieve full-domain sensing; secondly, by distinguishing the types of sensing targets and adopting different sensing node determination methods for different types of sensing targets, it is beneficial to select more suitable sensing nodes for sensing the sensing targets, thereby improving the efficiency and accuracy of sensing.

[0006] In a possible implementation, when the number of the sensing nodes is multiple, the multiple sensing nodes are used for jointly sensing the sensing target. In this implementation, according to the different numbers of the sensing nodes, the method for confirmation of sensing is as follows: when the number of the sensing nodes is multiple, the multiple sensing nodes adopt the method of joint sensing to sense the sensing target.

[0007] In a possible implementation, the type of the sensing target is the first type, and the sensing target is communicatively connected to the first communication service node; the determination of the sensing nodes includes: determining the sensing nodes from the first nodes; where the first nodes are the first communication service node and the nodes whose distance from the first communication service node is less than the first threshold; or the first nodes are the nodes whose communication quality with the sensing target meets the preset communication conditions. When the sensing target is of the first type with communication function, its communication function attribute can be utilized to assist in the selection of the sensing nodes, and the sensing nodes with better communication performance with the sensing target can be selected to improve the sensing accuracy.

[0008] In a possible implementation, the determination of the sensing nodes from the first nodes further includes: if the number of the first nodes is greater than N, then based on the first rule, N nodes are determined from the first nodes as the sensing nodes, where N is a positive integer greater than or equal to 2. In this implementation, through the value N, the maximum number of the sensing nodes participating in sensing can be limited, the interference in the sensing measurement process can be reduced, and the difficulty of the interference avoidance design of the sensing system can be lowered.

[0009] In a possible implementation, when the sensing target is disconnected from the first communication service node or when the sensing target is connected to the second communication service node, the sensing nodes of the sensing target are re-determined. In this implementation, the radio resource control (RRC) connection established between the sensing target and the communication service node can be utilized to dynamically track the position of the sensing target during the sensing process and determine whether the current sensing nodes can still meet the sensing conditions. If the RRC connection state changes, the sensing nodes are re-determined to improve the sensing measurement accuracy.

[0010] In a possible implementation, when the type of the sensing target is the second type, the determination of the sensing nodes includes: determining the sensing nodes from the second nodes; where the second nodes are the nodes associated with the sensing target. By determining the sensing nodes from the nodes associated with the sensing target, the sensing of the second type of sensing target without communication function can be realized.

[0011] In a possible implementation, the second nodes associated with the sensing target include at least one of the following: nodes with a line-of-sight (LOS) probability to the sensing target greater than or equal to a fourth threshold; nodes with a distance to the sensing target less than or equal to a fifth threshold; and nodes with a maximum radar cross section (RCS) of a physical surface greater than or equal to a sixth threshold.

[0012] In a possible implementation, determining the sensing nodes from the second nodes includes: if the number of the second nodes is greater than M, determining M nodes as the sensing nodes from the second nodes based on a second rule, where M is a positive integer greater than or equal to 2. In this implementation, the maximum number of sensing nodes participating in sensing can be limited by the value of M, interference during the sensing measurement process can be reduced, and the difficulty of interference avoidance design for the sensing system can be lowered.

[0013] In a possible implementation, the method includes: when the sensing target exceeds the maximum sensing distance corresponding to any one of the sensing nodes, re-determining the sensing nodes for the sensing target. In this implementation, the maximum sensing distance of the sensing nodes can be used to determine whether the currently participating sensing nodes meet the sensing conditions. If the maximum sensing distance of the sensing nodes is exceeded, the sensing nodes are re-determined to improve the accuracy of the sensing measurement.

[0014] In a possible implementation, the method includes: detecting whether there is a communication connection between the sensing target and the network device; if there is a communication connection between the sensing target and the network device, determining that the sensing target is of the first type. In this implementation, a method for determining the type of the sensing target is given.

[0015] In a second aspect of the present application, a sensing measurement method is provided. The sensing measurement method includes: a sensing node obtaining configuration parameter information; where the sensing node is any sensing node determined according to the method described in any of the above; and the sensing node sending a first signal for sensing according to the configuration parameter information and / or receiving a second signal for sensing reflected by the sensing target.

[0016] In a possible implementation, the sensing node sends a first signal for sensing according to the configuration parameter information, where the sensing target is of the first type, and the sensing node is a communication service node communicatively connected to the sensing target. In this embodiment, if the sensing target is of the first type, the communication service node communicatively connected to the sensing target is configured to send the first signal for sensing, because the communication service node communicatively connected to the sensing target is relatively close to the sensing target and has good channel quality. Therefore, the attenuation of the sent sensing signal reaching the sensing target is less, which is more conducive to the reception and detection of the echo signal after the sensing signal passes through the sensing target.

[0017] In a possible implementation, the sensing node determines a sensing measurement result based on the second signal.

[0018] In a possible implementation, the sensing node is a node with sensing capabilities but without communication capabilities. By deploying sensing nodes with sensing capabilities but without communication capabilities in the system, the deployment cost can be saved and the density of the sensing nodes can be increased, thereby improving the sensing performance.

[0019] In a possible implementation, the sensing node sends a first signal for sensing according to the configuration parameter information, and / or receives a second signal for sensing reflected by the sensing target. Specifically, at a first moment, the sensing node sends a first signal for sensing according to the configuration parameter information; and at a second moment, the sensing node receives a second signal for sensing reflected by the sensing target according to the configuration parameter information; wherein, the second signal is obtained by reflecting the first signal sent by the sensing node by the sensing target, or the second signal is obtained by reflecting a third signal sent by other sensing nodes by the sensing target. In this embodiment, the sensing node can implement different functions at different times. It can be used for both sending sensing signals and receiving sensing echo signals, and the transceiver timing of the sensing node can be flexibly set according to needs.

[0020] In a possible implementation, the method further includes: the sensing node sends the sensing measurement result to a computing node, where the computing node is used to determine the sensing result of the sensing target according to the sensing measurement result of the sensing node. In this embodiment, the computing node calculates the sensing result. Especially in a collaborative sensing scenario, the final sensing result can be determined by combining the sensing measurement results of multiple sensing nodes.

[0021] In a third aspect of the present application, a sensing method is provided. The sensing method includes: the computing node sends configuration parameter information corresponding to each sensing node in the first sensing node to the first sensing node, where the first sensing node is all the sensing nodes determined by the sensing node determination method according to any one of the above; the computing node determines the sensing result of the sensing target according to the sensing measurement result sent by the second sensing node; wherein, the second sensing node is a sensing node in the first sensing node that receives the second signal according to the configuration parameter information, and the second signal is a signal for sensing reflected by the sensing target.

[0022] In a fourth aspect of the present application, a sensing node determination device is provided. The sensing node determination device includes: a first determination module, which is configured to determine a sensing node according to the type of a sensing target; wherein the sensing node is used to sense the sensing target; and the type of the sensing target includes a first type with communication function and a second type without communication function.

[0023] In a fifth aspect of the present application, a sensing device is provided. The sensing measurement device includes: an acquisition module, which is configured to acquire configuration parameter information; a transceiver module, which is configured to send a first signal for sensing according to the configuration parameter information, and / or receive a second signal for sensing reflected by the sensing target according to the configuration parameter information.

[0024] In a sixth aspect of the present application, a sensing device is provided. The sensing device includes: a sending module, which is configured to send configuration parameter information corresponding to each sensing node in the first sensing nodes to the first sensing nodes, where the first sensing nodes are all sensing nodes determined according to the sensing node determination method described in any one of the above; a determination module, which is configured to determine the sensing result of the sensing target according to the sensing measurement result sent by the second sensing node; wherein the second sensing node is a sensing node in the first sensing nodes that receives the second signal according to the configuration parameter information, and the second signal is a signal for sensing reflected by the sensing target.

[0025] In a seventh aspect of the present application, a sensing system is provided. The sensing system includes a computing node and a sensing node; the computing node is configured to determine a sensing node according to the sensing node determination method described in any one of the above; the sensing node is configured to determine the sensing measurement result of the sensing target and send the sensing measurement result to the computing node; and the computing node is further configured to determine the sensing result of the sensing target according to the sensing measurement result of the sensing target.

[0026] In an eighth aspect of the present application, a network device is provided, including a processor and a memory. The memory stores a program or instruction that can run on the processor. When the program or instruction is executed by the processor, it implements the steps of the sensing node determination method described in any one of the above, or implements the steps of the sensing measurement method described in any one of the above, or implements the steps of the sensing method.

[0027] In a ninth aspect of the present application, a readable storage medium is provided. A program or instruction is stored on the readable storage medium. When the program or instruction is executed by the processor, it implements the steps of the sensing node determination method described in any one of the above, or implements the steps of the sensing measurement method described in any one of the above, or implements the steps of the sensing method.

[0028] Other features and advantages of the present application will be set forth in the following description, and in part will be obvious from the description, or may be learned by practice of the present application. The objectives and other advantages of the present application may be realized and attained by the structure particularly pointed out in the written description, claims, as well as the drawings. Brief Description of the Drawings

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0030] Figure 1 Shows a schematic diagram of a communication system.

[0031] Figure 2 Shows a schematic diagram of the independent sensing mode.

[0032] Figure 3 Shows a schematic diagram of the collaborative sensing mode.

[0033] Figure 4 Shows a schematic flowchart of a method for determining a sensing node provided by an embodiment of the present application.

[0034] Figure 5 Shows a schematic flowchart of a sensing method provided by an embodiment of the present application.

[0035] Figure 6 Shows a schematic flowchart of a sensing measurement method provided by an embodiment of the present application.

[0036] Figure 7 Shows a schematic flowchart of a sensing method provided by an embodiment of the present application.

[0037] Figure 8 Shows a schematic diagram of a sensing network provided by an embodiment of the present application.

[0038] Figure 9 Shows a schematic diagram of a sensing network provided by an embodiment of the present application.

[0039] Figure 10 Shows a schematic diagram of a device for determining a sensing node provided by an embodiment of the present application.

[0040] Figure 11 Shows a schematic diagram of a sensing measurement device provided by an embodiment of the present application.

[0041] Figure 12The figure shows a schematic diagram of a sensing device provided by an embodiment of the present application.

[0042] Figure 13 The figure shows a schematic diagram of a communication device provided by an embodiment of the present application.

[0043] Figure 14 The figure shows a schematic diagram of a communication device provided by an embodiment of the present application. Detailed implementation manners

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0045] In the following embodiments of the present application, "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B may be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (item) below" or similar expressions refer to any combination of these items, including any combination of single item (item) or multiple items (items). For example, at least one (item) of a, b, or c may represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c may be single or multiple. The singular expression forms "a", "one kind", "the", "above-mentioned", "this", and "this one" are also intended to include expressions such as "one or more" unless there is a clear opposite indication in the context. Also, unless otherwise stated, the ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects and are not used to limit the order, time sequence, priority, or importance degree of multiple objects.

[0046] Reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that specific features, structures, or characteristics described in combination with that embodiment are included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments" unless otherwise specifically emphasized in other ways. The terms "include", "comprise", "have" and their variants all mean "including but not limited to" unless otherwise specifically emphasized in other ways.

[0047] Figure 1A communication system 100 applicable to the present application is shown. The communication system 100 includes a network device 110, a terminal device 120, and a core network device 130. The network device 110 communicates with the terminal device 120 via a wireless network.

[0048] The above communication system applicable to the present application is only an example, and the communication system applicable to the present application is not limited thereto. For example, the number of network devices and terminal devices included in the communication system may also be other numbers, or scenarios such as single base station, multi-carrier aggregation, dual-link, or device-to-device (abbreviated as D2D) communication scenario, multi-point cooperative transmission CoMP scenario may be adopted. Among them, CoMP may be one or more scenarios such as non coherent joint transmission (abbreviated as NCJT), coherent joint transmission (abbreviated as CJT), joint transmission (abbreviated as JT), etc.

[0049] Embodiments of the present application can also be applied to other communication systems, such as: Global System of Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), General Packet Radio Service (GPRS), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system, 5th Generation (5G) mobile communication system or NR, etc. The 5G mobile communication system described in the present application includes a non-standalone (NSA) 5G mobile communication system and / or a standalone (SA) 5G mobile communication system. The technical solutions provided by the present application can also be applied to future communication systems, such as the sixth-generation mobile communication system. The communication system can also be a PLMN network, a device-to-device (D2D) network, a machine-to-machine (M2M) network, an IoT network or other networks.

[0050] A network device can also be referred to as a base station, or a RAN node, or a RAN device. A network device is an entity on the network side for transmitting and / or receiving signals, acting as a router between a terminal and the rest of the access network, where the rest of the access network may include an IP network, etc. The network device can also coordinate the attribute management of the air interface. For example, the network device can be an evolved base station in LTE (English: evolutional Node B, abbreviated as eNB or e-NodeB), and the eNB is a device deployed in the radio access network that meets the 4G standard and provides wireless communication functions for terminals. The network device can also be a new radio controller (English: new radio controller, abbreviated as NR controller), can be a gNode B (abbreviated as: gNB) in a 5G system, can be a centralized unit (English: centralized unit, abbreviated as CU), can be a new radio base station, can be a remote radio unit, can be a micro base station (also known as a small station), can be a relay, can be a distributed unit (English: distributed unit, abbreviated as DU), can be various forms of macro base stations, can be a transmission reception point (English: transmission reception point, abbreviated as TRP), a transmission measurement function (English: transmission measurement function, abbreviated as TMF) or a transmission point (English: transmission point, abbreviated as TP) or any other radio access device, or a base station in next-generation communication, but the embodiments of this application are not limited thereto.

[0051] The network device can be composed of a BBU and an RRU, and can also be composed of other devices. For example, in a 5G communication system, the network device can include a CU, a DU, and an AAU. Compared with the network device in an LTE communication system, which consists of one or more radio frequency units, such as an RRU, and one or more BBUs:

[0052] The non-real-time part of the original BBU will be split out and redefined as a CU, which is responsible for processing non-real-time protocols and services. The partial physical layer processing function of the BBU, together with the original RRU and passive antenna, is merged into an AAU. The remaining functions of the BBU are redefined as a DU, which is responsible for processing physical layer protocols and real-time services. In short, the CU and DU are distinguished by the real-time nature of the processed content, and the AAU is a combination of the RRU and the antenna.

[0053] The CU, DU, and AAU can be deployed separately or integrated, so there will be multiple network deployment forms. One possible deployment form is the same as that of traditional 4G network equipment, where the CU and DU share the same hardware for deployment. For example, the deployment form can also be that the DU is deployed in the BBU computer room, and the CU is centrally deployed or the DU is centrally deployed, with the CU being more highly centralized, etc. This application does not specifically limit the equipment form of the network equipment here.

[0054] The terminal device 120 can be a wireless terminal or a wired terminal. The wireless terminal can be a device that provides voice and / or data connectivity to users, a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem. The wireless terminal can communicate with one or more core networks via a radio access network (e.g., Radio Access Network, abbreviated as RAN). The wireless terminal can be a mobile terminal, such as a mobile phone (or a "cellular" phone) and a computer with a mobile terminal. For example, it can be a portable, pocket-sized, handheld, computer-integrated, or vehicle-mounted mobile device that exchanges voice and / or data with the radio access network. For example, devices such as personal communication service (PCS) phones, cordless phones, session initiation protocol phones, wireless local loop (WLL) stations, and personal digital assistants (PDAs). The wireless terminal can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station (abbreviated as MS), remote station (abbreviated as RS), access point (abbreviated as AP), remote terminal, access terminal, user terminal, user agent, user device, or user equipment (abbreviated as UE).

[0055] Among them, the core network device 130 can be used to provide user connections, user management, and bear services, and serve as an interface of the bearer network to the external network. The establishment of user connections includes functions such as mobility management, call management, switching / routing, announcement recording (combining with intelligent network services to complete the connection relationship to intelligent network peripheral devices), etc. The core network device may include, but is not limited to, at least one of the following: core network nodes, core network functions, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (L-NEF), Binding Support Function (BSF), Application Function (AF), etc. It should be noted that in the embodiments of this application, only the core network device in the NR system is taken as an example for introduction, and the specific type of the core network device is not limited.

[0056] Those skilled in the art can know that Figure 1The numbers of network devices, terminal devices, and core network devices in [the context] are merely illustrative. According to actual needs, there can be any number of network devices, terminal devices, and core network devices. The embodiments of this application do not limit this.

[0057] Communication-sensing integration, also known as communication-sensing convergence, is a technology that strongly integrates multiple services at the network architecture and technology levels. It is a key technology in 5G-A (5G-Advanced in English) and 6G. Communication-sensing integration uses the same set of devices and the same network to implement two services: communication and sensing, which is a significant improvement compared to the earlier technology where communication and sensing were designed separately. Communication-sensing convergence will be more conducive to realizing the extension of communication network tasks and the generalization of sensing services. With the development of network technology, future networks will have higher frequencies, larger bandwidths, and more channel numbers, laying a solid foundation for the application of communication-sensing integration.

[0058] Communication-sensing integration can be used in various application scenarios such as smart cities, intelligent transportation, smart factories, smart healthcare, precision agriculture, security checks, and safety. In the scenario of drones or autonomous mobile robots (abbreviated as AMR), it is necessary to achieve drone flight trajectory tracking through sensing and use network-assisted sensing to avoid collisions between drones or AMRs. Therefore, in the drone or AMR scenario, the physical range of sensing is relatively large, and the requirement for the real-time nature of sensing is also relatively high. In the smart city scenario, a three-dimensional map of the city is constructed through sensing. At this time, the physical range of sensing is relatively large, but the requirement for the real-time nature of sensing is relatively low; in the smart city scenario, to achieve traffic flow or pedestrian flow sensing through sensing and implement diversion management for areas with large traffic flow or pedestrian flow, at this time, the physical range of sensing is relatively large, and the requirement for the real-time nature of sensing is medium. In the smart healthcare scenario, health monitoring is achieved through sensing, and parameters such as heart rate, breathing, and blood oxygen saturation need to be monitored in real time. At this time, the physical range of sensing is relatively small, but the requirement for the real-time nature of sensing is relatively high. Communication-sensing integration can also be applied to scenarios such as meteorology, agriculture, and life services by sensing weather, air quality, etc.; applied to scenarios such as construction, manufacturing, and surveying by sensing material properties; and applied to scenarios such as security checks and logistics by sensing imaging. With the development of communication-sensing integration technology, this technology may have the possibility of being applied in various industries, and no further examples will be given here. From the above application scenarios, it can be seen that under different sensing services, the physical range of sensing, the function of sensing, and the requirement for the real-time nature of sensing are not the same. Correspondingly, the performance of sensing nodes and the requirements for sensing configuration needed for different application scenarios are also different.

[0059] The working modes of a communication-sensing integration system are divided into an independent sensing mode and a collaborative sensing mode.

[0060] Please refer to Figure 2 as shown in Figure 2 Figure 1, which is a schematic diagram of the independent sensing mode. During the independent sensing process, the sensing node A operating in the independent sensing mode actively sends a sensing signal. The sensing signal is reflected back as an echo signal after passing through Target 1, Target 2, and Target 3. The sensing node A uses its own sensing receiver to receive the echo signal, and through the processing of the echo signal, relevant sensing functions are realized.

[0061] The advantage of independent sensing is that during independent sensing, a single sensing node can achieve the sensing function without the cooperation of other sensing nodes. Therefore, the synchronization requirement between sensing nodes is relatively low. As long as there is a line of sight (LOS) between the sensing target and the sensing node, the sensing function can be realized. The meaning of having a LOS path between the sensing target and the sensing node is that the sensing signal and the echo signal can propagate linearly between the transmitter and the receiver without obstruction.

[0062] However, the independent sensing mode has the following deficiencies. First, since during independent sensing, both the signal transmission and reception processing are carried out on the same sensing node, and the sensing information for transmission and reception is almost simultaneous, the sensing node needs to have the ability of full duplex. To achieve independent sensing, the sensing node needs to be upgraded. Second, because the sensing information for transmission and reception is almost simultaneous, the sensing node needs to have the ability to eliminate self-interference, and functions for self-interference cancellation or self-interference suppression need to be added to the sensing node. Finally, independent sensing can only be carried out by a single sensing node, only point sensing can be performed, and other types of sensing such as area sensing or three-dimensional sensing cannot be achieved.

[0063] Please refer to Figure 3 as shown in Figure 3 Figure 2, which is a schematic diagram of the cooperative sensing mode. During the cooperative sensing process, the sensing node (i.e., the sensing node A in Figure 3 ) operating in the cooperative sensing mode sends a sensing signal. The sensing signal is reflected back as an echo signal after passing through Target 1. The echo signal is received by one or more sensing nodes, and then through further information processing and information interaction between nodes, the environmental sensing between the transmitting and receiving nodes is completed. The sensing nodes receiving the echo signal can only include cooperative sensing nodes (the sensing node B and the sensing node C in Figure 3 ), or can include cooperative sensing nodes and the sensing node that sends the sensing signal (the sensing node A, the sensing node B, and the sensing node C in Figure 3 ). The relevant sensing functions are jointly realized by the sensing node that sends the sensing signal and other cooperative sensing nodes.

[0064] Collaborative sensing has the following advantages: Since the sensing nodes that transmit sensing signals and the sensing nodes that receive sensing signals can be separated in the collaborative sensing mode, the sensing nodes participating in collaborative sensing do not need to have full-duplex capabilities or self-interference cancellation capabilities. Therefore, the collaborative sensing nodes can reuse the nodes in the existing communication networks deployed on a large scale, and low-cost and ubiquitous sensing services can be provided through the collaborative sensing mode. In addition, compared with the independent sensing mode, the collaborative sensing mode can achieve sensing functions such as area sensing, three-dimensional sensing, and environmental sensing through the collaboration of multiple sensing nodes, and has a wider application scenario.

[0065] There are also some deficiencies in collaborative sensing. First, for the time-division duplex (TDD) systems widely used currently, additional system design is required to eliminate the synchronization errors and interference between different sensing nodes. Especially in the related technologies, all nodes in the entire network participate in collaborative sensing, the number of sensing nodes is large, the design of interference cancellation is complex and the interference cancellation effect is poor, which affects the efficiency and performance of sensing. Second, when performing collaborative sensing, there needs to be a line-of-sight (LOS) path between the sensing target and all the sensing nodes participating in sensing. Therefore, the probability of the appearance of the LOS path is small.

[0066] Whether it is independent sensing or collaborative sensing, the sensing target may be all objects in a specific area, and these sensing targets include both the first type with communication capabilities and the second type without communication capabilities. In the related technologies, the sensing target only includes the first type with communication capabilities, and the sensing nodes are determined according to the communication capabilities of the sensing target, but the sensing targets of the second type without communication capabilities cannot be sensed.

[0067] In view of the problems existing in the related technologies, the method for determining a sensing node, the sensing measurement method and device provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings through some embodiments and application scenarios.

[0068] Please refer to Figure 4As shown in the figure, an embodiment of the present application provides a method for determining a sensing node. The execution subject can be a computing node, which can be a core network device (such as a device / sensing network element with sensing network function in the core network, a Location Management Function (LMF) node), an access network device (such as a base station, a device / sensing network element with sensing network function in the base station), an edge device, etc. The sensing node is a device with wireless signal transceiver function and sensing ability. The sensing node can be a macro base station, a small base station, a transmission and reception point, a User Equipment (UE), an Access Point (AP), Bluetooth, a satellite, etc., and different sensing nodes can be selected according to specific scenarios.

[0069] As Figure 4 shown in the figure, an embodiment of the present application provides a method for determining a sensing node, which may include the following steps:

[0070] Step 401, determine the type of the sensing target. The type of the sensing target includes a first type with communication function and a second type without communication function. The type of the sensing target includes a first type and a second type. The sensing target of the first type is a sensing target with communication function, and the sensing target of the second type is a sensing target without communication function.

[0071] In some embodiments, the sensing target of the first type with communication function includes mobile phones, tablet computers, laptop computers, wearable devices, in-vehicle devices, drones, smart homes, Augment Reality (AR) devices, Virtual Reality (VR), etc., which are terminals with mobile communication capabilities and can establish communication connections with the network, or a person or object holding these terminals.

[0072] In some embodiments, the sensing target of the second type without communication function includes cars, drones, people, animals, etc., which do not have mobile communication capabilities. The sensing target of the second type does not establish any communication connection with the network. During the sensing process, such targets are sensed by relying on the echo signal of the sensing signal.

[0073] In some embodiments, the computing node determines the type of the sensing target, specifically including: the computing node obtains first information and determines the type of the sensing target according to the first information. Wherein, the first information is the type information of the sensing target reported by the network device to the computing node. In some embodiments, the computing node can also act as a network device to determine the type of the sensing target. The network device can be a core network device, an access network device, an access point, etc.

[0074] In some embodiments, when the network device receives the sensing requirement information sent by the sensing target, the network device determines that the sensing target is of the first type. The sensing target may report the sensing requirement information to the network device via an uplink channel and a signal. The uplink channel includes at least one of the following: Physical Random Access Channel (PRACH), Physical Uplink Control Channel (PUCCH), or Physical Uplink Shared Channel (PUSCH). The uplink signal includes at least one of the following: Sounding Reference Signal (SRS), Demodulation Reference Signal (DMRS), or Phase Tracking Reference Signal (PTRS). When the sensing target sends the sensing requirement information to the network device, the sensing target may be in any of the following states: Radio Resource Control connected (RRC connected), Radio Resource Control idle (RRC idle), or Radio Resource Control inactive (RRC inactive).

[0075] In some embodiments, when the network device receives a signal sent by the sensing target that contains the sensing requirement information, the network device determines that the sensing target is of the first type. The process of the sensing target sending the signal complies with a preset communication standard, and the preset communication standard includes: 3rd Generation Partnership Project (3GPP), 802.1x, etc. rd Generation PartnershipProject, abbreviated as 3GPP), 802.1x, etc.

[0076] In some embodiments, when the network device receives the UE capability information sent by the sensing target and the UE capability information contains information capable of performing sensing-related operations, the network device determines that the sensing target is of the first type.

[0077] In some embodiments, the network device sends a sensing requirement to the sensing target. After receiving the sensing requirement, the sensing target reports feedback information to the network device. After receiving the feedback information, the network device determines that the sensing target is of the first type. When the network device sends a sensing requirement to the sensing target, it can be sent through one of the following downlink channels: Physical Downlink Control Channel (abbreviated as PDCCH in English), Physical Downlink Shared Channel (abbreviated as PDSCH in English), or Physical Broadcast Channel (abbreviated as PBCH in English), or it can also be sent through one of the following downlink signals: Demodulation Reference Signal (abbreviated as DMRS in English), Phase Tracking Reference Signal (abbreviated as PTRS in English), Channel State Information Reference Signal (abbreviated as CSI-RS in English), Positioning Reference Signal (abbreviated as PRS in English), Synchronization Signal (abbreviated as SS in English). After receiving the sensing requirement, the sensing target reports feedback information to the network device, which can be sent through any communication standard, and the communication standard can include 3GPP, 802.1x, etc. The feedback information reported by the sensing target to the network device can include: the status information of the sensing target, such as speed, distance, angle, position, movement direction, orientation, etc.

[0078] In some embodiments, the network device sends a sensing requirement to the sensing target. If the network device does not receive the feedback information sent by the sensing target within the first preset condition and receives an echo signal within the second preset condition, then the network device determines that the sensing target is of the second type. The first preset condition and the second preset condition are at least one of the following: a preset time threshold, a preset time window (which can be periodic or aperiodic), a preset receiving beam (or beam group), a preset frequency range, or a preset network device. The first preset condition and the second preset condition can be set separately according to the actual situation, and the first preset condition and the second preset condition can be the same or different.

[0079] Step 402, determine a sensing node according to the type of the sensing target. Among them, the sensing node is used to sense the sensing target.

[0080] In the embodiments of the present application, by differentiating the types of perception targets and then determining perception nodes according to the types of perception targets, perception nodes can be determined for the second type of perception targets that do not have communication functions. Furthermore, the determined perception nodes can be used to perceive the perception targets without communication functions, which can expand the perception range and achieve global perception. Secondly, by differentiating the types of perception targets and adopting different perception node determination methods for different types of perception targets, it is beneficial to select more suitable perception nodes for perceiving the perception targets, thereby improving the efficiency and accuracy of perception.

[0081] Please refer to Figure 5 as shown in Figure 5 FIG. 7 is a flowchart of a perception method provided by an embodiment of the present application, and its execution subject may be a computing node. As Figure 5 shown in FIG. 8, a perception method when the perception target is of the first type provided by an embodiment of the present application includes the following steps:

[0082] Step 501: Trigger a perception process in response to a perception start condition.

[0083] In some embodiments, the perception start condition includes: a communication service node sends perception requirement information to the computing node. The perception requirement information may be perception requirement information received by the communication service node from the perception target, or perception requirement information generated by the communication service node according to the perception requirement. The perception requirement information generated by the communication service node according to the perception requirement may be that the initiator of the perception requirement information initiates a perception service start request, or a perception requirement trigger condition is saved on the communication service node. For example, when the perception target moves to a specific area, the communication service node initiates the perception requirement; or in a certain time period, a certain area is periodically perceived; or when the communication demand surges (such as the uplink utilization rate of PRB exceeds the set threshold, or the number of access users exceeds the set threshold), it indicates a sudden perception demand, and the communication service node initiates the perception requirement. The communication service node may be a device such as a macro base station, a small base station, or an access point.

[0084] In some embodiments, the perceived demand information includes at least one of the following information: the identity identifier (Identifier, abbreviated as ID) of the perceived target, the perceived area, the Quality of Service (QoS) information, the number and density of perceived targets in the perceived area, and the perceived result feedback method. Among them, the identity identifier of the perceived target is at least one of the following: Subscription Permanent Identifier (SUPI), Subscription Concealed Identifier (SUCI), 5G Globally Unique Temporary UE Identity (5G-GUTI), Permanent Equipment Identifier (PEI), Generic Public Subscription Identifier (GPSI), and Single Network Slice Selection Assistance Information (S-NSSAI). The QoS information includes the perceived service type, perceived service priority, perceived resolution requirement, perceived error requirement, perceived latency budget, maximum perceived range requirement, continuous perception ability requirement, perceived update frequency requirement, etc.

[0085] Step 502: Determine the type of the perceived target, where the type of the perceived target is the first type.

[0086] The method for determining the type of the perceived target in step 502 is similar to that in step 401, and will not be elaborated here.

[0087] Step 503: Determine the first node.

[0088] In some embodiments, the first node includes: a first communication service node communicatively connected to the sensing target and a node whose distance from the first communication service node is less than a first threshold. The first node determined by the above method includes the first communication service node communicatively connected to the sensing target. In the subsequent sensing node selection process, selecting the first communication service node as the sensing node can utilize the characteristic that the sensing target is the communication target and a communication connection is established with the first communication service node to assist sensing through the communication signal. When assisting sensing through the communication signal, the communication signal itself can be used as the sensing signal for transmission, which also helps to realize the interaction of sensing information between multiple sensing nodes, and the direction of the sensing signal can also be determined using beam management. In addition, the node whose distance from the first communication service node is less than the first threshold in the first node can use the transmission characteristics between base stations for data transmission centered on the first communication service node, improving the efficiency and performance of sensing.

[0089] In some embodiments, the first node includes: a node whose communication quality with the sensing target meets a preset communication condition. In a possible implementation manner, when determining the first node, the sensing target measures the communication quality parameters of the communication service nodes around it, and determines the node whose communication quality meets the preset communication condition as the first node. Among them, the communication service quality parameters are at least one of the following: Reference Signal Received Power (RSRP), Received Signal Strength Indicator (RSSI), Reference Signal Received Quality (RSRQ), Signal To Interference Plus Noise Ratio (SINR), Signal To Noise Ration (SNR), Bit Error Rate (BER), Block Error Rate (BLER), Throughput, etc. The preset communication conditions are at least one of the following: the RSRP value of the measurement node is greater than the preset RSRP value, the RSSI value of the measurement node is greater than the preset RSSI value, the RSRQ value of the measurement node is greater than the preset RSRQ value, the measured SINR value is greater than the preset SINR value, the measured SNR is greater than the preset SNR value, the measured BER is less than the preset BER, the measured BLER is less than the preset BLER, and the Throughput is greater than the preset Throughput, etc. The sensing target determines the communication service node (i.e., the first node) that meets the preset conditions and reports it to the first communication service node that establishes a communication service connection with it. If the first communication service node is not a computing node, the first communication service node then reports the first node information to the computing node. In a possible implementation manner, when determining the first node, the first node is the node among the currently L3-triggered or L1 / L2 triggered Mobility (LTM) measurement reports whose communication quality meets the preset conditions. Taking the LTM handover as an example, in the relevant protocol, during the LTM handover process, the beam indication of the candidate node is carried by the LTM handover command, and the first communication service node connected to the sensing target selects the corresponding beam through the L1 measurement report result.In this embodiment, the first communication service node may determine the first node based on the reported L1-RSRP value or the reported L1-SINR value. If the L1-RSRP value reported by the node is greater than the preset RSRP value, or the L1-SINR value reported by the node is greater than the preset SINR value, the corresponding node is determined as the first node. If the first communication service node is not a computing node, the first communication service node then reports the first node information to the computing node.

[0090] Step 504: Determine the maximum number of nodes N participating in sensing. Here, N is a positive integer greater than or equal to 1.

[0091] In some embodiments, when determining the maximum number of nodes N participating in sensing, the computing node may determine it according to the sensing requirement information. In a possible embodiment, the computing node determines the maximum number of nodes N participating in sensing according to the QoS information in the sensing requirement information. For example, when the sensing physical range is small and the sensing accuracy requirement is low, the value of N is small, such as 1-2; when the sensing physical range is large and the sensing accuracy requirement is high, the value of N is large, such as 3-4; or when the priority of the sensing service is low, the value of N is small, and when the priority of the sensing service is high, the value of N is large. In this embodiment, the maximum number of nodes N participating in sensing can be determined according to different sensing requirement information or sensing requirement metrics. By determining the maximum number of nodes participating in sensing, the maximum scale of the sensing nodes can be limited, and the interference in the sensing measurement process can be reduced. Compared with the situation where all network nodes participate in sensing, the difficulty of system interference avoidance design can be effectively reduced.

[0092] Step 505: Determine whether the number of first nodes is greater than N. If it is greater than N, execute step 506; if it is not greater than N, execute step 507. In Figure 5 In the shown embodiment, by determining the maximum number of nodes participating in sensing, the number of nodes participating in sensing is reduced, and the complexity of system design is reduced.

[0093] Step 506: Determine N sensing nodes from the first nodes according to the first rule.

[0094] In some embodiments, the first rule may be preset in the storage system.

[0095] In some embodiments, the first node includes: a first communication service node communicatively connected to the sensing target and a node whose distance from the first communication service node is less than a first threshold. The first rule is: N sensing nodes include a first communication service node communicatively connected to the sensing and the N-1 nodes with the smallest distance from the first communication service node. The sensing nodes determined according to the preset first rule can assist in sensing using communication signals, and the determined sensing nodes include the node with the closest distance to the first communication service node, which is beneficial to using the transmission characteristics between communication service nodes for data transmission (such as using a backhaul for data transmission), improving the efficiency and performance of sensing.

[0096] In some embodiments, the first node includes a node whose communication quality with the sensing target meets a preset communication condition. The first rule is: N sensing nodes are the N nodes with the best communication quality with the sensing target. Determining the sensing nodes by communication quality is beneficial to ensuring the communication quality between the sensing nodes and the sensing target, improving the transmission performance of the sensing signal, and thus improving the accuracy of sensing.

[0097] In some embodiments, the first rule is: according to the predicted direction of movement of the sensing target, determine the N nodes in the predicted direction among the first nodes as the sensing nodes. The calculation node can determine the predicted direction of movement of the sensing target through methods such as Artificial Intelligence (AI) or Machine Learning (ML) based on the current position, movement speed, and movement direction of the sensing target. By determining the sensing nodes in the predicted direction of movement of the sensing target, the accuracy of sensing can be improved, and the number of times of sensing node switching can be reduced.

[0098] In some embodiments, the first rule is: N sensing nodes are the N nodes with the smallest average utilization rate of Physical Resource Blocks (PRBs) among the first nodes; or N sensing nodes are the N nodes with the largest carrier bandwidth value among the first nodes. By selecting the N nodes with the smallest average utilization rate of PRBs or the N nodes with the largest carrier bandwidth value, it is beneficial to not affect the normal operation of communication services while performing sensing.

[0099] In some embodiments, the first rule is that the N sensing nodes are the N nodes with the strongest sensing performance among the first nodes. When determining the N nodes with the strongest sensing performance among the first nodes, the computing node obtains the sensing performance information of each node in the first nodes, and determines the sensing performance score of each node in the first nodes according to the obtained sensing performance information. Among them, the sensing performance information of each node in the first nodes includes the sensing algorithm adopted by the node, the sensing capability information of the node (the sensing capability information may include the maximum bandwidth and time-frequency resources supported by the node, the maximum sensing distance, the processing period of the sensing signal, etc.), the number of antennas of the node, etc. Different weights are assigned to different sensing performance information, and finally the sensing performance score of each node is calculated comprehensively.

[0100] Step 507: Determine the first nodes as sensing nodes.

[0101] In some embodiments, if the number of the first nodes is not greater than N, then determine the first nodes as sensing nodes to meet the sensing requirements.

[0102] In some embodiments, after determining the first nodes, determining the first nodes as sensing nodes no longer includes steps 504 to 507. At this time, the determination speed of the sensing nodes can be improved.

[0103] Step 508: Send configuration parameter information to the sensing nodes so that the sensing nodes perform sensing measurements on the sensing targets according to the configuration parameter information.

[0104] In some embodiments, the computing node sends configuration parameter information to each sensing node determined to participate in sensing so that the sensing nodes perform sensing measurements according to the configuration parameter information.

[0105] In some embodiments, when the sensing nodes sense the sensing targets, they adopt Figure 6 the sensing measurement method in. Please refer to Figure 6 as shown in Figure 6 which is a flowchart of a sensing measurement method provided by this application, and its execution subject is the sensing node. The sensing node can be a macro base station, a small base station, a transmission and reception point, a user equipment, an access point, Bluetooth, a satellite and other devices. The sensing node can have both communication functions and sensing functions; in order to save deployment costs and increase the density of sensing nodes, the sensing node can also only have sensing functions and no communication functions. Figure 6 The sensing measurement method provided in the embodiment in

[0106] Step 601: Obtain configuration parameter information.

[0107] The configuration parameter information is the configuration parameter information sent by the computing node to the determined sensing node. The configuration parameter information of different sensing nodes can be the same. For example, for multiple collaborative sensing nodes that all need to receive the signal reflected by the sensing target within a specific time, the configuration parameters of these collaborative sensing nodes can be the same; the configuration parameter information of different sensing nodes can be different. For example, the configuration parameter information of the sensing node that emits the sensing signal and the sensing node that receives the sensing signal is different. The configuration parameters of each sensing node are determined by the computing node according to different sensing measurement situations. If the computing node also participates in sensing, the configuration information of the computing node participating in sensing can be obtained from within the computing node.

[0108] In some embodiments, the configuration parameter information includes at least one of the following:

[0109] Waveform: It can be Orthogonal Frequency Division Multiplexing (OFDM), Single-Carrier Frequency-Division Multiple Access (SC-FDMA), Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signal, etc.

[0110] Subcarrier spacing: It can be 15KHz, 30KHz, 60KHz, 120KHz, 240KHz, 480KHz, 960KHz, etc. In a possible implementation, the subcarrier spacing of the OFDM system is 30KHz.

[0111] Bandwidth: The transmission bandwidth of the sensing signal. Among them, the bandwidth can be determined according to the QoS parameter in the sensing demand information. The larger the bandwidth, the higher the sensing accuracy.

[0112] Burst duration: The duration of a burst refers to the time duration in the time domain for continuously sending a group of sensing signals. Among them, the longer the burst duration, the higher the sensing accuracy.

[0113] Inter-signal time interval within a burst: It refers to the time interval of a group of sensing signals sent within a burst. This parameter determines the maximum measurable range of Doppler or speed for sensing measurement.

[0114] Inter-burst signal time interval: It refers to the time interval between two adjacent bursts when multiple bursts need to be sent.

[0115] Transmission power of the signal: The transmission power of the sensing signal, and this transmission power value can be determined according to the sensing requirement information. The signal transmission power will affect the coverage range and anti-noise ability of sensing. When determining the signal transmission power, the interference impact on other systems also needs to be considered.

[0116] Signal format: The signal format for transmitting the sensing signal, and this signal format can be: Downlink Synchronization and Physical Broadcast Channel Block (English: Synchronization Signals and Physical Broadcast Channel Block, abbreviated as SSB), Sounding Reference Signal (English: Sounding Reference Signal, abbreviated as SRS), Demodulation Reference Signal (English: Demodulation Reference Signal, abbreviated as DMRS), Positioning Reference Signal (English: Positioning Reference Signal, abbreviated as PRS), other predefined signals, etc. This application does not limit the signal format.

[0117] Signal direction: It refers to the transmission direction or beam information of the sensing signal. If the sensing target is of the first type with communication function, the transmission direction of the sensing signal can reuse the beam direction or beam information of the communication signal. Utilizing the communication function of the sensing target to assist in sensing can improve the efficiency and accuracy of sensing.

[0118] Beam width: It refers to the beam direction for transmitting the sensing signal. Among them, the narrower the beam width, the higher the angular accuracy measured.

[0119] Time resource: It refers to the moment when the sensing node transmits and receives the sensing signal.

[0120] In some embodiments, for the first sensing node, the time resource can be to transmit the sensing signal at time T1 and receive the sensing signal reflected by the sensing target at time T2. When the first sensing node has a full-duplex function, the time resource can also be to transmit the sensing signal and receive the sensing signal reflected by the sensing target at time T1. When the first sensing node is the first communication service node that establishes a communication connection with the sensing target, the time resource can be to transmit the sensing signal at time T1 and transmit the sensing signal at time T2, etc., that is, the first communication service node only transmits the sensing signal and does not receive the sensing signal. When configuring the first communication service node to transmit the sensing signal, because the distance between the first communication service node and the sensing target is relatively close and the channel quality is good, therefore, the attenuation of the transmitted sensing signal reaching the sensing target is less, which is more conducive to the reception and detection of the echo signal of the sensing signal after passing through the sensing target.

[0121] Frequency resources: including the center frequency point, bandwidth, resource block (abbreviated as RB in English), subcarriers, reference frequency position, starting bandwidth position, etc. of the sensing signal. Among them, the center frequency point of the sensing signal can be one of the following frequency bands: low frequency band (below 3 GHz), medium frequency band (3 GHz to 6 GHz), high frequency band (6 GHz to 100 GHz), or terahertz (above 100 GHz). The center frequency point of the sensing signal can be selected according to the network construction situation and sensing requirement information.

[0122] Quasi co-location (QCL) relationship: If the sensing signal includes multiple resources, each resource corresponds to a QCL of a reference signal, and the types of QCL include Type A, B, C, or D.

[0123] Step 602: Send the first signal for sensing according to the configuration parameter information, and / or receive the second signal for sensing reflected by the sensing target.

[0124] In some embodiments, if the sensing node is only used to send the sensing signal, the sensing node sends the first signal for sensing according to the configuration parameter information; in some embodiments, if the sensing node is only used to receive the sensing signal, the sensing node receives the second signal for sensing reflected by the sensing target according to the configuration parameter information; in some embodiments, if the sensing node is used to both send and receive the sensing signal, the sensing node sends the first signal for sensing according to the configuration parameter information and receives the second signal for sensing reflected by the sensing target.

[0125] Step 603: Determine the sensing measurement result according to the second signal.

[0126] In some embodiments, if the sensing node receives the second signal reflected by the sensing target, the sensing node determines the sensing measurement result according to the second signal. Among them, the sensing measurement result depends on the type of sensing service. For example, in the positioning scenario, the sensing measurement result may include: the initial position of the sensing target, the movement trajectory of the sensing target, the movement speed of the sensing target, the current position of the sensing target, the future predicted position of the sensing target; in the intelligent medical scenario, the sensing measurement result may include: the heartbeat of the sensing target, the breathing of the sensing target, etc.; in the security inspection or logistics scenario, the sensing measurement result may include the imaging of the sensing target, the identification of the sensing target, etc. For different types of sensing services, the parameters of the sensing measurement result may be different.

[0127] Step 604: Send the sensing measurement result to the computing node.

[0128] In some embodiments, if the sensing node is not a computing node, the sensing node sends the sensing measurement result to the computing node, where the computing node is used to determine the joint sensing result of the sensing target according to the sensing measurement results of all the sensing nodes participating in the sensing.

[0129] Figure 6 The sensing measurement method shown in is executed by a single sensing node. When the number of sensing nodes is one, the sensing node performs sensing according to the method in Figure 6 to determine the sensing measurement result. When the number of sensing nodes is multiple, multiple sensing nodes perform joint sensing on the sensing target, that is, each of the sensing nodes performs sensing according to the sensing measurement method in Figure 6 to determine the sensing measurement result, and sends the sensing measurement result to the computing node. The computing node determines the joint sensing result of the sensing target according to the sensing measurement results of each sensing node.

[0130] Step 509, determine whether the sensing node switching condition is satisfied. The computing node determines whether the currently participating sensing nodes satisfy the sensing node switching condition. If the sensing node switching condition is not satisfied, execute step 508, that is, send configuration parameter information to the sensing node so that the sensing node performs sensing measurement according to the configuration parameter information; if the sensing node switching condition is satisfied, execute step 503, that is, re-determine the first node, and then re-select the nodes participating in the sensing.

[0131] In some embodiments, the sensing node switching condition is that the sensing target disconnects the communication connection with the first communication service node.

[0132] In some embodiments, the sensing node switching condition is that the sensing target establishes a communication connection with the second communication service node, where the second communication service node and the first service communication service node are different nodes.

[0133] In some embodiments, the sensing node switching condition is that based on the current sensing result, it is found that the sensing target is about to disconnect the communication connection with the first communication service node.

[0134] In some embodiments, the sensing node switching condition is that based on the current sensing result, it is found that the sensing target exceeds the maximum sensing distance of at least one of the currently participating sensing nodes.

[0135] In some embodiments, the sensing node switching condition is that based on the current sensing result, it is found that the predetermined sensing QoS requirement or other sensing index requirements cannot be met.

[0136] In some embodiments, the sensing node switching condition is to receive feedback messages from at least one of the sensing nodes currently participating in sensing, where the feedback messages are used to feedback that the sensing signal reflected by the sensing target cannot be received or the quality of the sensing signal received after being reflected by the sensing target is less than a preset threshold. The sensing signal quality can be any one of the following: RSRP, RSSI, RSRQ, SINR, SNR, BER, BLER, Throughput, or other sensing-related performance metrics.

[0137] In some embodiments, in step 509, determining whether the sensing node switching condition is met is a periodic event, and the cycle length can be preset and determined regularly. This cycle can be set according to the expected moving speed of the sensing target. When the expected moving speed of the sensing target is relatively fast, the determination cycle is shorter, such as 30s or 1min, etc. When the expected moving speed of the sensing target is relatively slow, the determination cycle is longer, such as 5min, 10min, etc. In some embodiments, in step 509, determining whether the sensing node switching condition is met is a triggering event. For example, when receiving feedback information sent by the sensing node that does not meet the sensing requirements, the determination of whether the sensing node switching condition is met is started.

[0138] In some embodiments, the sensing measurement method further includes step 510 of sending a stop sensing instruction to the sensing nodes currently participating in sensing. After receiving the stop sensing instruction, the sensing nodes stop sending and / or receiving sensing signals and release the sensing node resources. Step 510 can be executed after it is determined in step 509 that the sensing node switching condition is met, which can release the sensing node resources in a timely manner and improve resource utilization. Step 510 can also be executed before step 508, that is, before determining new sensing nodes, the sensing nodes currently participating in sensing are still used for sensing to avoid interruption of sensing services.

[0139] In some embodiments, after step 502, step 502-1 is further included to determine the initial position of the sensing target. When determining the initial position of the sensing target, existing methods of New Radio (NR) can be used to locate the sensing target, and communication is based on the direct communication interface (PC5) or the cellular network communication interface (Uu). The positioning method can include one of the following methods: Downlink Time Difference of Arrival (DL-TDOA) method, Uplink Time Difference of Arrival (UL-TDOA) method, Multi-Cell Round Trip Time (Multi-RTT) method, Downlink Angle of Departure (DL-AOD) method, Uplink Angle of Arrival (UL-AOA) method, Enhanced Cell ID (E-CID) method, DL and UL carrier phase positioning (DL and UL CPP), etc. In addition to using the NR positioning method, the Global Navigation Satellite System (GNSS) can also be used for positioning, such as using the Global Position System (GPS), Beidou positioning system, etc., to locate the sensing target; Bluetooth or Ultra Wide Band (UWB) technology can also be used to obtain the initial position information sent by the sensing target. Since subsequent sensing may continue based on the initial position, in some embodiments, the initial position of the sensing target needs to be determined before other sensing is performed.

[0140] In some embodiments, a Reconfigurable Intelligent Surface (RIS) is deployed in the sensing area. The RIS actively changes the sensing environment to increase the probability of line-of-sight (LOS) from the sensing node to the sensing target, improve the transmission quality of the sensing signal, and thus enhance the sensing performance. Among them, the RIS can be deployed in wireless signal coverage blind spots, weak wireless signal coverage areas, building facades, or inside buildings. The RIS improves the transmission signal quality of wireless signals by increasing the reflectivity or transmittance of wireless signals.

[0141] In some embodiments, the sensing measurement method further includes step 511 of confirming whether the sensing stop condition is met. Step 511 can be executed before step 509. If the sensing stop condition is met, the sensing is stopped; if the sensing stop condition is not met, step 509 is executed. The sensing stop condition can include at least one of the following: the initiator of the sensing requirement information initiates a sensing stop request, the specified time of the sensing service is reached, the preset number of sensing times of the sensing service is reached, the sensing target leaves the sensing area, the time when the sensing target is sensed to be in a stationary state reaches the preset time, the sensing performance index is satisfied and continues for the preset time, etc.

[0142] When the sensing target is of the first type with communication capabilities, according to Figure 5 the sensing measurement method provided, the sensing nodes can be determined in combination with the characteristics of the sensing target, improving the efficiency and accuracy of sensing measurement; by determining the maximum number of nodes participating in sensing, both the accuracy of sensing measurement can be ensured and the complexity of system design caused by too many sensing nodes can be avoided; in addition, by confirming whether the sensing node switching condition is met and performing sensing node switching when the sensing node switching condition is met, the sensing nodes can meet the sensing conditions.

[0143] Please refer to Figure 7 as shown in Figure 7 which is a flowchart of a sensing method provided by an embodiment of the present application, and its execution subject can be a computing node. As Figure 7 shown, a sensing method when the sensing target is of the second type provided by an embodiment of the present application includes the following steps:

[0144] Step 701: Trigger the sensing process in response to the sensing start condition. This step is similar to step 501.

[0145] Step 702, determine the sensing target type, where the sensing target type is the second type.

[0146] Step 703, determine the second node. Among them, the second node is a node associated with the sensing target.

[0147] In some embodiments, the second nodes include: nodes with a line-of-sight (LOS) probability to the sensing target greater than or equal to a set probability. The LOS probability is a statistical parameter used to represent the probability of an LOS path existing between the sensing target and the node. During the channel modeling process, the LOS probability is typically used to model whether an LOS path exists between the sensing target and the node. The LOS probability is related to the distance between the sensing target and the node and the scenario. Typical outdoor scenarios include urban macrocell (Uma), urban microcell (Umi), and suburban macrocell (Sma). In the Uma scenario, the base station spacing is approximately 3 km, and the base station antenna is higher than the roof height; in the Umi scenario, the base station spacing is less than 1 km, and the base station antenna is at the roof height; in the Sma scenario, the base station spacing is approximately 3 km, and the base station antenna is higher than the roof height.

[0148] In some embodiments, the second nodes include: nodes with a distance to the sensing target less than or equal to a preset distance. Since the smaller the distance between the node and the sensing target, the less the signal attenuation, screening nodes with a distance to the sensing target less than or equal to the preset distance can improve the sensing performance.

[0149] In some embodiments, the second nodes include: nodes that obtain a maximum radar cross section (RCS) of the physical surface of the sensing target greater than or equal to a set threshold. The RCS is used to represent the ease of detection of different objects by radar. The larger the RCS, the easier the object is to be detected. The factors affecting the RCS include: the material of the sensing target, the size of the sensing target relative to the wavelength of the sensing signal, the absolute size of the sensing target, the incident angle of the sensing signal, the reflection angle of the sensing signal, etc.

[0150] Step 704, determine the maximum number of nodes M participating in sensing. Here, M is a positive integer greater than or equal to 1.

[0151] In some embodiments, the method for calculating the nodes to determine the maximum number of nodes M participating in sensing is similar to step 504, and the maximum number of nodes M participating in sensing can be determined according to different sensing requirement information. By determining the maximum number of nodes participating in sensing, the maximum scale of sensing can be limited, the interference during the sensing measurement process can be reduced, and compared with the situation where all network nodes participate in sensing, the difficulty of system interference avoidance design can be effectively reduced.

[0152] Step 705, determine whether the number of second nodes is greater than M. If it is greater than M, execute step 706; if it is not greater than M, execute step 707.

[0153] Step 706, determine M sensing nodes from the second nodes according to the second rule.

[0154] In some embodiments, the second rule may be preset in the storage system.

[0155] In some embodiments, the second rule is as follows: According to the predicted direction of the perceived target's movement, determine M nodes in the predicted direction in the second nodes as the sensing nodes. The computing node can determine the predicted direction of the perceived target's movement by methods such as artificial intelligence (abbreviated as AI in English) or machine learning (abbreviated as ML in English) based on the current position, movement speed, and movement direction of the perceived target. By determining the sensing nodes in the predicted direction of the perceived target's movement, the accuracy of sensing can be improved, and the number of sensing node switches can be reduced.

[0156] In some embodiments, the second rule is as follows: Determine M nodes in the second nodes that satisfy the spatial consistency of the perceived target's sensing as the sensing nodes. Among them, spatial consistency means that when the sensing nodes sense the perceived target, the sensing results are continuous, that is, when the perceived target is at adjacent positions, the sensing results are smooth and uninterrupted, having continuity related to space.

[0157] In some embodiments, the second rule is as follows: M nodes that simultaneously satisfy at least the following two conditions are the sensing nodes: the LOS probability to the perceived target is greater than or equal to the set probability, the distance to the perceived target is less than or equal to the preset distance, and the maximum RCS of the physical surface for obtaining the perceived target is greater than or equal to the set threshold.

[0158] In some embodiments, the second rule is as follows: The M sensing nodes are the M nodes with the minimum average PRB utilization rate in the second nodes; or the M sensing nodes are the M nodes with the largest carrier bandwidth value in the second nodes. By selecting the M nodes with the minimum average PRB utilization rate or the M nodes with the largest carrier bandwidth value, it is beneficial to not affect the normal operation of communication services while performing sensing.

[0159] In some embodiments, the second rule is as follows: The M sensing nodes are the M nodes with the strongest sensing performance in the second nodes. The definition of the sensing performance strength is similar to that in step 506.

[0160] Step 707, determine the second nodes as the sensing nodes.

[0161] In some embodiments, if the number of the second nodes is not greater than M, determine the second nodes as the sensing nodes to meet the sensing requirements.

[0162] In some embodiments, after determining the second nodes, determining the second nodes as the sensing nodes no longer includes steps 704 to 707. At this time, the determination speed of the sensing nodes can be improved.

[0163] Step 708: Send configuration parameter information to the sensing nodes so that the sensing nodes perform sensing measurements on the sensing targets according to the configuration parameter information.

[0164] In some embodiments, when the sensing nodes perform sensing on the sensing targets according to the configuration parameter information, the Figure 6 sensing measurement method in

[0165] Step 709: Determine whether the sensing node switching condition is satisfied. The computing node determines whether the currently participating sensing nodes satisfy the sensing node switching condition. If the sensing node switching condition is not satisfied, execute Step 708, that is, send configuration parameter information to the sensing nodes so that the sensing nodes perform sensing measurements according to the configuration parameter information. If the sensing node switching condition is satisfied, execute Step 703, that is, re-determine the second node, and then re-select the nodes participating in the sensing.

[0166] In some embodiments, the sensing node switching condition is that, based on the current sensing results, it is found that the sensing target exceeds the maximum sensing distance of at least one of the currently participating sensing nodes.

[0167] In some embodiments, the sensing node switching condition is that, based on the current sensing results, it is found that the predetermined sensing QoS requirements or other sensing metric requirements cannot be met.

[0168] In some embodiments, the sensing node switching condition is to receive feedback messages from at least one of the currently participating sensing nodes, and the feedback messages are used to feedback that the sensing signal reflected by the sensing target cannot be received or the quality of the sensing signal reflected by the sensing target is less than a preset threshold. The sensing signal quality can be any one of the following: RSRP, RSSI, RSRQ, SINR, SNR, BER, BLER, Throughput, or other sensing-related performance metrics.

[0169] In some embodiments, in Step 709, determining whether the sensing node switching condition is satisfied is a periodic event, and the period length can be preset and determined regularly. This period can be set according to the expected moving speed of the sensing target. When the expected moving speed of the sensing target is relatively fast, the determination period is shorter, such as 30s or 1min, etc. When the expected moving speed of the sensing target is relatively slow, the determination period is longer, such as 5min, 10min, etc. In some embodiments, in Step 709, determining whether the sensing node switching condition is satisfied is a triggering event, such as when receiving feedback information sent by the sensing nodes that does not meet the sensing requirements, start determining whether the sensing node switching condition is satisfied.

[0170] In some embodiments, the sensing measurement method further includes step 710 of sending a stop sensing indication to the sensing nodes currently participating in sensing. After receiving the stop sensing indication, the sensing nodes stop sending and / or receiving sensing signals and release the resources of the sensing nodes. Step 710 can be executed after it is determined in step 709 that the sensing node switching condition is met, which can promptly release the resources of the sensing nodes and improve resource utilization. Step 710 can also be executed before step 708, that is, before determining the new sensing nodes, the currently participating sensing nodes are still used for sensing to avoid interruption of the sensing service.

[0171] In some embodiments, after step 702, it further includes step 702-1 of determining the initial position of the sensing target. When determining the initial position of the sensing target, after the sensing signal sent by the first sensing node irradiates the sensing target, the first sensing node receives the sensing echo signal, and the initial position of the sensing target is determined according to the sensing echo signal. When determining the initial position of the sensing target, after the sensing signal sent by the first sensing node irradiates the sensing target, it can also be agreed that the sensing nodes around the first sensing node that meet the preset conditions receive the sensing echo signal. The preset conditions can be the L sensing nodes closest to the first sensing node, where L is a positive integer greater than or equal to 1, and the initial position of the sensing target is determined according to the sensing echo signal. Since subsequent sensing may continue based on the initial position, in some embodiments, it is necessary to first determine the initial position of the sensing target before performing other sensing.

[0172] In some embodiments, RIS is deployed in the sensing area to actively change the sensing environment by RIS, improve the LOS probability from the sensing nodes to the sensing target, and improve the transmission quality of the sensing signal, thereby improving the sensing performance. Among them, RIS can be deployed in wireless signal coverage blind areas, weak wireless signal coverage areas, building facades or inside buildings. RIS improves the transmission signal quality of wireless signals by increasing the reflectivity or transmittance of wireless signals.

[0173] In some embodiments, the sensing measurement method further includes step 711 of confirming whether the sensing stop condition is met. Step 711 can be executed before step 709. If the sensing stop condition is met, the sensing is stopped; if the sensing stop condition is not met, step 709 is executed. The sensing stop condition can include at least one of the following: the initiator of the sensing requirement information initiates a sensing stop request, the specified time of the sensing service is reached, the preset number of sensing times of the sensing service is reached, the sensing target leaves the sensing area, the time when the sensing target is sensed to be in a stationary state reaches the preset time, the sensing performance index is met and persists for the preset time, etc.

[0174] When the sensing target is of the second type without communication function, according to Figure 7The perception measurement method provided in [the relevant content] can determine perception nodes in combination with the characteristics of the perception target, improving the efficiency and accuracy of perception measurement; by determining the maximum number of nodes participating in perception, it can not only ensure the accuracy of perception measurement but also avoid the complexity of system design caused by excessive perception nodes; in addition, by confirming whether the perception node switching condition is met and performing perception node switching when the condition is met, the perception nodes can meet the perception conditions.

[0175] Please refer to Figure 8 and Figure 9 as shown in Figure 8 which is a schematic diagram of an embodiment of a perception network provided by this application. In Figure 8 the perception target is the first node with communication function; Figure 9 which is a schematic diagram of another embodiment of a perception network provided by this application. For the convenience of illustration, Figure 8 and Figure 9 the perception nodes in [the relevant content] are only illustrated by taking the base station as an example, and the perception nodes can also be other devices such as transmission and reception points (TRPs), user equipment (UEs), access points, Bluetooth devices, satellites, etc. Figure 8 and Figure 9 Some of the perception nodes in [the relevant content] only have the perception function and do not have the communication function. Setting such perception nodes can, on the one hand, reduce costs. Compared with perception nodes that have both perception and communication functions, perception nodes can be deployed at low cost; on the other hand, by setting such perception nodes, the density of perception nodes can be increased, improving the perception performance. Figure 8 and Figure 9 The computing nodes are not shown in [the relevant content]. The computing nodes can be core network devices (such as devices / network elements with perception network functions in the core network, location management function (LMF) nodes); the computing nodes can also reuse the perception nodes in the figure, that is, the computing nodes are access network devices (such as base stations, devices / network elements with perception network functions in the base station); the computing nodes can also be edge devices, etc.

[0176] In Figure 8 the computing node determines that the perception target is of the first type with communication function. Since this perception target is a communication target, when determining the initial position of the perception target, the perception target is located according to the existing methods in NR, such as using methods like DL-TDOA, UL-TDOA, Multi-RTT, DL-AOD, UL-AOA, E-CID, DL and UL CPP, etc.

[0177] After determining the initial position of the sensing target, the computing node determines the first nodes according to a preset rule. At time T1, the first nodes determined by the computing node according to the preset rule, where the first nodes include sensing node 801, sensing node 802, sensing node 803, sensing node 808, and sensing node 809. The computing node determines that the maximum number of nodes participating in sensing in this sensing task is 3 according to the sensing requirement information, and then determines the participating sensing nodes 801, 802, and 803 from the first nodes according to the first rule. At this time, the sensing nodes 801, 802, and 803 are the collaborative sensing group at time T1. The computing node sends configuration information to the sensing nodes 801, 802, and 803 respectively according to the sensing requirement information.

[0178] When performing sensing, the sensing nodes 801, 802, and 803 sense the sensing target according to the configuration information. At time T1, the sensing node 802 is the first communication service node that establishes a communication connection with the sensing target. The sensing node 802 sends the first signal for sensing (i.e., the sensing signal in the figure) according to the configuration information and receives the second signal reflected by the sensing target (i.e., the echo signal in the figure); using the first communication service node to send the sensing signal, the channel quality of this node reaching the sensing target is better, and combining communication characteristics during the sensing signal sending process (such as using beam management of communication signals for signal sending) can improve the signal quality of the sensing signal reaching the sensing target, improve the signal quality of the echo signal, and because the sensing target establishes an RRC connection with the sensing node 802, the position of the sensing target can be dynamically tracked during the sensing process to achieve more accurate sensing. The sensing nodes 801 and 803 are collaborative sensing nodes. According to the sensing configuration information, the sensing nodes 801 and 803 receive the second signal reflected by the sensing target (i.e., the echo signal in the figure). The sensing nodes 801, 802, and 803 respectively determine the sensing measurement results according to the received second signal and send the sensing measurement results to the computing node. The computing node determines the joint sensing result of the sensing target according to the sensing measurement results of the sensing node 801, the sensing measurement results of the sensing node 802, and the sensing measurement results of the sensing node 803.

[0179] After the sensing at time T1 ends, the computing node determines whether the sensing node switching condition is met. If the switching condition is not met, the sensing nodes 801, 802, and 803 are continued to be used to sense the sensing target; if the switching condition is met, the first nodes and the participating sensing nodes are re-determined. Such as Figure 8As shown in [figure], after the handover condition is met, the sensing nodes 803, 804, and 805 in the collaborative sensing group at time T2 are determined according to the sensing node determination method similar to that at time T1. At time T2, the sensing nodes 803, 804, and 805 perform collaborative sensing using a method similar to that at time T1. Similarly, after the sensing at time T2 ends, if the computing node determines that the handover condition is met, the sensing nodes 805, 806, and 807 in the collaborative sensing group at time T3 are re-determined. At time T3, the sensing nodes 805, 806, and 807 perform collaborative sensing using a method similar to that at time T1.

[0180] As Figure 8 shown in [figure], when the sensing target leaves the sensing area, the sensing nodes stop sensing.

[0181] Through Figure 8 the schematic diagram in [figure], it can be seen that by using the sensing measurement method provided in this application, the sensing nodes can be determined in combination with the characteristics of the sensing target, and the signal transceiver rules of the sensing nodes can be determined, which can improve the efficiency and accuracy of sensing measurement; by determining the maximum number of nodes participating in sensing, both the accuracy of sensing measurement can be guaranteed and the complexity of system design caused by too many sensing nodes can be avoided; in addition, by confirming whether the sensing node handover condition is met and performing sensing node handover when the sensing node handover condition is met (for example, at time T2, the sensing nodes in the collaborative sensing group are switched to sensing nodes 803, 804, and 805), the sensing nodes can meet the sensing conditions.

[0182] In Figure 9 [figure], the computing node determines that the sensing target is of the second type without communication function. Since the sensing target is a non-communication target and does not have communication function, the initial position of the sensing target is also determined by sensing. When the sensing signal sent by node 901 irradiates the sensing target, the sensing nodes around the sensing target will receive the sensing echo signal, and the computing node determines the initial position of the sensing target according to the sensing results of the sensing nodes that meet the preset conditions.

[0183] After determining the initial position of the sensing target, the computing node determines a second node according to a preset rule. At time T1, the second node determined by the computing node according to the preset rule, where the second node includes sensing node 901, sensing node 902, sensing node 903, sensing node 910, sensing node 911, and sensing node 912. The computing node determines that the maximum number of nodes participating in sensing in this sensing task is 3 according to the sensing requirement information, and then determines sensing node 901, sensing node 902, and sensing node 903 participating in sensing from the second node according to the second rule. At this time, sensing node 901, sensing node 902, and sensing node 903 are the collaborative sensing group at time T1. The computing node sends configuration information to sensing node 901, sensing node 902, and sensing node 903 respectively according to the sensing requirement information.

[0184] When performing sensing, sensing node 901, sensing node 902, and sensing node 903 sense the sensing target according to the configuration information. At time T1, sensing node 902 sends a first signal for sensing (i.e., the sensing signal in the figure) according to the configuration information, and receives a second signal (i.e., the echo signal in the figure) reflected by the sensing target. Sensing node 901 and sensing node 903 are collaborative sensing nodes. According to the sensing configuration information, sensing node 901 and sensing node 903 receive the second signal (i.e., the echo signal in the figure) reflected by the sensing target. Sensing node 901, sensing node 902, and sensing node 903 respectively determine sensing measurement results according to the received second signal, and send the sensing measurement results to the computing node. The computing node determines the joint sensing result of the sensing target according to the sensing measurement result of sensing node 901, the sensing measurement result of sensing node 902, and the sensing measurement result of sensing node 903. In Figure 9 Although sensing node 910, sensing node 911, and sensing node 912 can also receive the echo signal, according to the configuration information, sensing node 910, sensing node 911, and sensing node 912 do not need to process the echo signal. On the one hand, the echo signals received by these three sensing nodes are affected by the environment and have poor quality because they are far from the sensing target; on the other hand, these three sensing nodes do not need to process the echo signal, which also reduces the difficulty of system design.

[0185] After the sensing at time T1 ends, the computing node determines whether the sensing node switching condition is met. If the switching condition is not met, continue to use sensing node 901, sensing node 902, and sensing node 903 to sense the sensing target; if the switching condition is met, re-determine the second node and the sensing nodes participating in sensing. Such as Figure 9As shown, after the handover condition is met, the sensing nodes 903, 904, and 905 in the collaborative sensing group at time T2 are determined according to a sensing node determination method similar to that at time T1. At time T2, the sensing nodes 903, 904, and 905 perform collaborative sensing using a method similar to that at time T1. Similarly, after the sensing at time T2 ends, if the computing node determines that the handover condition is met, the sensing nodes 905, 906, and 907 in the collaborative sensing group at time T3 are re-determined. At time T3, the sensing nodes 905, 906, and 907 perform collaborative sensing using a method similar to that at time T1.

[0186] As Figure 9 shown in the method, when the sensing target leaves the sensing area, the sensing nodes stop sensing.

[0187] Through Figure 9 the schematic diagram in, it can be seen that by using the sensing measurement method provided in this application, according to the type of the sensing target, the first sensing method is determined, and the initial position of the sensing target is obtained; by determining the maximum number of nodes participating in sensing, both the accuracy of sensing measurement can be ensured, and the complexity of system design caused by too many sensing nodes can be avoided; in addition, by confirming whether the sensing node handover condition is met and performing sensing node handover when the sensing node handover condition is met (for example, at time T2, the sensing nodes in the collaborative sensing group are switched to sensing nodes 903, 904, and 905), the sensing nodes can meet the sensing conditions.

[0188] For the sensing node determination method provided in the embodiments of this application, the execution subject can be a sensing node determination device. This device is applied to a computing node, and this computing node is the same as Figure 4 the meaning of the execution subject in the method embodiment shown, which will not be elaborated here. In the embodiments of this application, taking the sensing node determination device as the execution subject of the sensing node determination method as an example, the sensing node determination method in the embodiments of this application is described.

[0189] Please refer to Figure 10 , Figure 10 which is the sensing node determination device 1000 provided in the embodiments of this application. In Figure 10 the optional modules are represented by dashed boxes. The sensing node determination device 1000 includes the following modules:

[0190] The first determination module 1001 is configured to determine sensing nodes according to the type of the sensing target, where the sensing nodes are used to sense the sensing target, and the types of the sensing target include a first type with communication functions and a second type without communication functions.

[0191] In some embodiments, the sensing node determination device 1000 further includes an acquisition module 1002. The acquisition module 1002 is configured to acquire the type of the sensing target. The first determination module 1001 determines the sensing nodes according to the type of the sensing target. The acquisition module 1002 can acquire the type of the sensing target from the information reported by other nodes, or can acquire the type of the sensing target from other modules of the present node.

[0192] In some embodiments, the sensing node determination device 1000 further includes an acquisition module 1002 and a second determination module 1003. The acquisition module 1002 is configured to acquire the type of the sensing target and the sensing requirement information. The second determination module 1003 determines the maximum number of sensing nodes participating in the sensing according to the sensing requirement information. The first determination module 1001 determines the sensing nodes according to the type of the sensing target and the maximum number of sensing nodes participating in the sensing. In some embodiments, when the type of the sensing target is the first type with communication function, the first determination module 1001 determines the first nodes according to the type of the sensing target, and determines the sensing nodes from the first nodes according to the maximum number of sensing nodes participating in the sensing and the first rule; when the type of the sensing target is the second type without communication function, the first determination module 1001 determines the second nodes according to the type of the sensing target, and determines the sensing nodes from the second nodes according to the maximum number of sensing nodes participating in the sensing and the second rule.

[0193] In some embodiments, the sensing node determination device 1000 further includes a monitoring module 1004. The monitoring module 1004 is configured to monitor whether the current sensing nodes meet the sensing node switching condition. If the sensing node switching condition is met, the first determination module 1001 is further configured to re-determine the sensing nodes.

[0194] The sensing node determination device 1000 provided by the embodiments of the present application can execute the sensing node determination method in the methods as Figure 4 , Figure 5 and Figure 7 shown, and can achieve the same beneficial effects. To avoid repetition, it will not be elaborated here.

[0195] The sensing node determination device 1000 in the embodiments of the present application can be an electronic device, such as an electronic device with an operating system, or can be a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a core network device, for example, a device with a sensing network function or a sensing network element, an LMF node, etc. in the core network. The electronic device can also be an access network device, for example, a base station, a device with a sensing network function or a sensing network element in the base station.

[0196] The perception measurement method provided by the embodiments of the present application is executed by a perception measurement device. In the embodiments of the present application, taking the perception measurement device executing the perception measurement method as an example, the perception measurement device provided by the embodiments of the present application is described.

[0197] Please refer to Figure 11 , the perception measurement device 1100 provided by the embodiments of the present application can be applied to a perception node, which has the same meaning as the execution subject of the method embodiment shown in Figure 6 and will not be elaborated here. As shown in Figure 11 , the perception measurement device 1100 may include the following modules:

[0198] An acquisition module 1101, configured to acquire configuration parameter information. If the perception node is not a computing node, the acquisition module 1101 acquires the configuration parameter information from the computing node; if the perception node is a computing node, the acquisition module 1101 acquires the configuration parameter information from the sending module of the computing node.

[0199] A transceiver module 1102, configured to send a first signal for perception according to the configuration parameter information, and / or receive a second signal for perception reflected by the perception target according to the configuration parameter information.

[0200] A determination module 1103, configured to determine a perception measurement result based on the second signal.

[0201] In some embodiments, the perception node further includes a sending module 1104, configured to send the perception measurement result determined based on the second signal to the computing node, so that the computing node determines the joint perception result of the perception target according to the perception measurement results of each perception node that receives the second signal.

[0202] In some embodiments, the transceiver module 1102, configured to send a first signal according to the configuration parameter information, and / or receive a second signal for perception reflected by the perception target according to the configuration parameter information, specifically includes: at a first moment, sending a first signal for perception according to the configuration parameter information; and at a second moment, receiving a second signal for perception reflected by the perception target according to the configuration parameter information, where the second signal is the first signal sent by the perception node reflected by the perception target, or the third signal sent by other perception nodes reflected by the perception target.

[0203] The perception measurement device 1100 in the embodiments of the present application may be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device may be a macro base station, a small base station, a transmission and reception point, an access point, a user equipment, Bluetooth, a satellite, or other devices.

[0204] The sensing measurement device 1100 provided in the embodiments of the present application can implement Figures 4 to 9 the process of realizing sensing measurement in the embodiments shown in Figures 4 to 9 , and achieve the same technical effects, which will not be elaborated here.

[0205] Please refer to Figure 12 , the sensing device 1100 provided in the embodiments of the present application can be applied to a computing node.

[0206] As Figure 12 shown, the sensing device 1200 may include the following modules:

[0207] A sending module 1201, configured to send configuration parameters corresponding to each sensing node in the first sensing node to the first sensing node, where the first sensing node may be all sensing nodes determined by the sensing node determination method provided in the embodiments of the present application for the computing node.

[0208] An obtaining module 1202, configured to obtain the sensing measurement results sent by the second sensing node and determine the combined sensing result of the sensing target; where the second sensing node is the sensing node in the first sensing node that receives the second signal according to the configuration parameters, and the second signal is a signal for sensing reflected by the sensing target.

[0209] A determining module 1203, configured to determine the combined sensing result of the sensing target according to the sensing measurement results sent by the second sensing node.

[0210] As Figure 13 shown, a communication device 1300 is further provided in the present application. The communication device 1300 may be a chip or a chip system. The communication device 1300 may be located in the device involved in any of the above method embodiments, such as a computing node or a sensing node, etc., to perform the actions corresponding to the computing node or the sensing node.

[0211] Optionally, the chip system may be composed of chips, or may include chips and other discrete devices.

[0212] The communication device 1300 includes a processor 1301.

[0213] The processor 1301 is configured to execute the computer program stored in the memory 1302 to implement the actions of each device in any of the above method embodiments.

[0214] The communication device 1300 may further include a memory 1302, configured to store a computer program.

[0215] Optionally, there is a coupling between the memory 1302 and the processor 1301. The coupling is an indirect coupling or communication connection between devices, units or modules, which can be in electrical, mechanical or other forms for information interaction between devices, units or modules. Optionally, the memory 1302 and the processor 1301 are integrated together.

[0216] Wherein, both the processor 1301 and the memory 1302 can be one or more, without limitation.

[0217] Optionally, in practical applications, the communication device 1300 may include a transceiver 1303 or may not include the transceiver 1303, which is schematically shown by a dashed box in the figure. The communication device 1300 can interact with other devices through the transceiver 1303. The transceiver 1303 can be a circuit, a bus, a transceiver or any other device that can be used for information interaction.

[0218] In a possible implementation manner, the communication device 1300 can be a computing node or a sensing node in the above method embodiments.

[0219] In the embodiments of the present application, the specific connection medium between the transceiver 1303, the processor 1301 and the memory 1302 is not limited. In the embodiments of the present application Figure 13 it is shown that the memory 1302, the processor 1301 and the transceiver 1303 are connected through a bus, and the bus is Figure 13 shown by a thick line in the figure. The connection manners between other components are only for illustrative purposes and are not to be construed as limiting. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 13 only one thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus. In the embodiments of the present application, the processor can be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor.

[0220] In the embodiments of the present application, the memory may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or may also be a volatile memory, such as a random-access memory (RAM). The memory may also be any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiments of the present application may also be a circuit or any other device capable of implementing a storage function, for storing computer programs, program instructions, and / or data.

[0221] Based on the above embodiments, refer to Figure 14 , the embodiments of the present application further provide another communication device 1400, including: an interface circuit 1401 and a logic circuit 1402; the interface circuit 1401, which can be understood as an input / output interface, can be used to execute the transceiver steps of each device in any of the above method embodiments; the logic circuit 1402 can be used to run code or instructions to execute the methods executed by each device in any of the above embodiments, which will not be elaborated.

[0222] Based on the above embodiments, the embodiments of the present application further provide a computer-readable storage medium, which stores instructions that, when executed, cause the methods executed by each device in any of the above method embodiments to be implemented. For example, it causes Figure 4 the methods executed by the computing nodes in the illustrated embodiments to be implemented. The computer-readable storage medium may include: various media such as a USB flash drive, a mobile hard disk, a read-only memory, a random-access memory, a magnetic disk, or an optical disc that can store program code.

[0223] Based on the above embodiments, the embodiments of the present application provide a communication system, which includes the computing nodes or sensing nodes mentioned in any of the above method embodiments and can be used to execute the methods executed by each node in any of the above method embodiments.

[0224] In addition, the above communication system may further include a sensing target, which can be sensed by the sensing nodes and the computing nodes, so that the computing nodes and the sensing nodes execute the relevant methods in any of the above method embodiments.

[0225] The program product may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the readable storage medium (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0226] The program product for time-domain noise processing according to the embodiments of the present application may adopt a portable compact disk read-only memory (CD-ROM) and include a computer program, and may run on a smart terminal. However, the program product of the present application is not limited thereto. In this document, the readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0227] The readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a readable computer program. Such a propagated data signal may take various forms, including - but not limited to - an electromagnetic signal, an optical signal, or any suitable combination of the above. The readable signal medium may also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0228] It should be noted that although several units or subunits of the apparatus are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more of the above-described units may be embodied in one unit. Conversely, the features and functions of one unit described above may be further divided and embodied by multiple units.

[0229] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0230] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, as well as the combination of flows and / or blocks in the flowchart and / or block diagram. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable frequency prediction devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable frequency prediction devices generate means for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0231] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable frequency prediction device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implement the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0232] These computer program instructions can also be loaded onto a computer or other programmable frequency prediction device, so that a series of operating steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in one or more of the blocks.

[0233] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0234] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A method for determining a sensing node in a wireless communication network, characterized in that, the method includes: determining a sensing node according to the type of the sensing target; the sensing node is used to sense the sensing target; and the types of the sensing targets include a first type and a second type; the sensing target of the first type is a sensing target with communication function, and the sensing target of the second type is a sensing target without communication function.

2. The method according to claim 1, characterized in that, when the number of the sensing nodes is multiple, the multiple sensing nodes are used to jointly sense the sensing target.

3. The method according to claim 1, characterized in that, the type of the sensing target is the first type, and the sensing target is communicatively connected to a first communication service node; the determining the sensing node includes: determining the sensing node from first nodes; where the first nodes are the first communication service node and nodes whose distance from the first communication service node is less than a first threshold; or the first nodes are nodes whose communication quality with the sensing target meets a preset communication condition.

4. The method according to claim 3, characterized in that, the determining the sensing node from the first nodes further includes: if the number of the first nodes is greater than N, then based on a first rule, determining N nodes from the first nodes as the sensing nodes, where N is a positive integer greater than or equal to 2.

5. The method according to claim 3 or claim 4, characterized in that, the method further includes: when the sensing target is disconnected from the first communication service node or when the sensing target is connected to a second communication service node, re-determining the sensing node of the sensing target.

6. The method according to claim 1, characterized in that, when the type of the sensing target is the second type, the determining the sensing node includes: determining the sensing node from second nodes; where the second nodes are nodes associated with the sensing target.

7. The method according to claim 6, characterized in that, the second nodes associated with the sensing target include at least one of the following: nodes with a line-of-sight (LOS) probability to the sensing target greater than or equal to a fourth threshold; nodes with a distance to the sensing target less than or equal to a fifth threshold; or nodes with a maximum radar cross section (RCS) of the physical surface greater than or equal to a sixth threshold.

8. The method according to claim 7, characterized in that, the determining the sensing node from the second nodes includes: if the number of the second nodes is greater than M, then based on a second rule, determining M nodes from the second nodes as the sensing nodes, where M is a positive integer greater than or equal to 2.

9. The method according to any one of claims 6-8, characterized in that, the method includes: when the sensing target exceeds the maximum sensing distance corresponding to any one of the sensing nodes, re-determining the sensing node of the sensing target.

10. The method according to claim 1, characterized in that, the method further includes: Detect whether there is a communication connection between the sensing target and the network device; If there is a communication connection between the sensing target and the network device, determine that the sensing target is of the first type.

11. A sensing measurement method, characterized in that, the sensing measurement method includes: The sensing node obtains configuration parameter information; wherein, the sensing node is any sensing node determined by the method according to any one of claims 1-10; The sensing node sends a first signal for sensing according to the configuration parameter information, and / or receives a second signal for sensing reflected by the sensing target.

12. The method according to claim 11, characterized in that, The sensing node sends a first signal for sensing according to the configuration parameter information, wherein the sensing target is of the first type, and the sensing node is a communication service node that establishes a communication connection with the sensing target.

13. The method according to claim 11, characterized in that, The method further includes: The sensing node determines a sensing measurement result based on the second signal.

14. The method according to claim 13, characterized in that, The sensing node is a node with sensing function but without communication function.

15. The method according to claim 11, characterized in that, The sensing node sends a first signal for sensing according to the configuration parameter information, and / or receives a second signal for sensing reflected by the sensing target, specifically including: At a first moment, the sensing node sends a first signal for sensing according to the configuration parameter information; and At a second moment, the sensing node receives a second signal for sensing reflected by the sensing target according to the configuration parameter information; wherein, the second signal is the first signal sent by the sensing node reflected by the sensing target, or the second signal is a third signal sent by other sensing nodes reflected by the sensing target.

16. The method according to claims 11-15, characterized in that, The method further includes: The sensing node sends the sensing measurement result to the computing node, where the computing node is used to determine the sensing result of the sensing target according to the sensing measurement result of the sensing node.

17. A sensing method, characterized in that, the sensing method includes: The computing node sends the configuration parameter information corresponding to each sensing node in the first sensing node to the first sensing node, wherein the first sensing node is all sensing nodes determined by the method according to any one of claims 1-10; The computing node determines the sensing result of the sensing target according to the sensing measurement result sent by the second sensing node; wherein, the second sensing node is the sensing node in the first sensing node that receives the second signal according to the configuration parameter information, and the second signal is a signal for sensing reflected by the sensing target.

18. A sensing node determination device, characterized in that, the sensing node determination device includes: A first determination module, which is used to determine a sensing node according to the type of the sensing target; Among them, the sensing node is used to sense the sensing target; and The types of the sensing targets include a first type with communication functions and a second type without communication functions.

19. A sensing and measuring device Characterized in that The sensing and measuring device includes: An acquisition module, which is used to acquire configuration parameter information; A transceiver module, which is used to send a first signal for sensing according to the configuration parameter information, and / or receive a second signal for sensing reflected by the sensing target according to the configuration parameter information.

20. A sensing device Characterized in that The sensing device includes: A sending module, which is used to send the configuration parameter information corresponding to each sensing node in the first sensing node to the first sensing node, where the first sensing node is all the sensing nodes determined according to the method described in any one of claims 1-10; A determination module, which is used to determine the sensing result of the sensing target according to the sensing measurement result sent by the second sensing node; where the second sensing node is the sensing node in the first sensing node that receives the second signal according to the configuration parameter information, and the second signal is a signal for sensing reflected by the sensing target.

21. A sensing system Characterized in that The sensing system includes a computing node and a sensing node; The computing node is used to determine the sensing node according to the method described in any one of claims 1-10; The sensing node is used to determine the sensing measurement result of the sensing target and send the sensing measurement result to the computing node; and The computing node is further used to determine the sensing result of the sensing target according to the sensing measurement result of the sensing target.

22. A network device Characterized in that It includes a processor and a memory, and the memory stores a program or instruction that can run on the processor. When the program or instruction is executed by the processor, it implements the steps of the sensing node determination method described in any one of claims 1 to 10, or implements the steps of the sensing measurement method described in any one of claims 11 to 16, or implements the steps of the sensing method described in claim 17.

23. A readable storage medium Characterized in that The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, it implements the steps of the sensing node determination method described in any one of claims 1 to 10, or implements the steps of the sensing measurement method described in any one of claims 11 to 16, or implements the steps of the sensing method described in claim 17.

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