Target object perception management method, configuration method, network self-organization method, equipment and medium

Abstract

The embodiment of the invention provides a target object sensing management and configuration method, a network self-organization method, equipment and a medium, and the target sensing method comprises the steps: carrying out the sensing management of a target object according to a preset process state. According to the embodiment of the invention, the method can achieve the management of a sensing target, improves the sensing precision of a target object, and improves the coverage range of a sensing system.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated communication and sensing, and particularly to a method, device, and medium for target object perception management, configuration, and network self-organization. Background Art

[0002] In a mobile communication system, integrated sending and communication (ISAC) is a research hotspot, and the perception of target objects is an important direction of perception. In the system, the perception of target objects is required. How to achieve the management of perception targets is an urgent problem to be solved.

[0003] In a cellular network, the deployment of network nodes needs to consider the coverage of network devices to achieve the maximum communication coverage. In a sensing system, the coverage performance of sensing nodes for sensing target objects also needs to be fully considered. Sensing signals and communication signals have the same electromagnetic wave transmission characteristics. Based on the requirements of the sensing channel module and the received power of the sensing signal, the coverage range of the sensing nodes can be theoretically determined. How to expand the coverage range of the sensing system and improve the feedback accuracy of the sensing target has become an urgent problem to be solved. Summary of the Invention

[0004] Embodiments of the present application aim to provide a method, device, and medium for target object perception management, configuration, and network self-organization to improve the coverage of the sensing system and the feedback accuracy of target object perception.

[0005] Embodiments of the present application provide a method for target object perception management, which includes:

[0006] Performing perception management on the target object according to a preset process state.

[0007] Embodiments of the present application also provide a method for target object perception configuration, which includes:

[0008] Obtaining configuration information according to a measurement request.

[0009] Embodiments of the present application also provide a method for target object perception network self-organization, which includes:

[0010] Maintaining integrated communication and sensing information;

[0011] Constructing a sensing network according to the integrated communication and sensing information.

[0012] Embodiments of the present application also provide an electronic device, which includes:

[0013] One or more processors;

[0014] A memory for storing one or more programs;

[0015] When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of the embodiments of the present application.

[0016] An embodiment of the present application also provides a computer-readable storage medium, which stores one or more programs, and the one or more programs are executed by one or more processors to implement the method as described in any one of the embodiments of the present application.

[0017] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understood through the following description. Description of the Drawings

[0018] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 is a flowchart of a target object perception management method provided by an embodiment of the present application;

[0020] Figure 2 is a flowchart of another target object perception management method provided by an embodiment of the present application;

[0021] Figure 3 is a flowchart of another target object perception management method provided by an embodiment of the present application;

[0022] Figure 4 is an example diagram of a target object perception management method provided by an embodiment of the present application;

[0023] Figure 5 is an example diagram of the conversion of a preset process state provided by an embodiment of the present application;

[0024] Figure 6 is an example diagram of information transmission provided by an embodiment of the present application;

[0025] Figure 7 is a flowchart of a target object perception configuration method provided by an embodiment of the present application;

[0026] Figure 8 is an example diagram of frequency band distribution provided by an embodiment of the present application;

[0027] Figure 9 is a flowchart of a method for self - organizing a target object perception network provided by an embodiment of the present application;

[0028] Figure 10 is a flowchart of another method for self - organizing a target object perception network provided by an embodiment of the present application;

[0029] Figure 11 is a flowchart of another method for self - organizing a target object perception network provided by an embodiment of the present application;

[0030] Figure 12 is a schematic structural diagram of a perception mode provided by an embodiment of the present application;

[0031] Figure 13 is a schematic structural diagram of a target object perception management device provided by an embodiment of the present application;

[0032] Figure 14 is a schematic structural diagram of a target object perception configuration device provided by an embodiment of the present application;

[0033] Figure 15 is a schematic structural diagram of a target object perception network self - organizing device provided by an embodiment of the present application;

[0034] Figure 16 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0035] It should be understood that the specific implementation described herein is only for explaining the present application and is not used to limit the present application.

[0036] In the subsequent descriptions, suffixes such as "module", "component" or "unit" used to represent elements are only for the convenience of description of the present application, and they have no specific meaning themselves. Therefore, "module", "component" or "unit" can be used interchangeably.

[0037] Figure 1 A flowchart of a target object perception management method provided by an embodiment of the present application. The embodiment of the present application is applicable to the situation of expanding the perception range. This method can be executed by a target object perception management device, and this device can be implemented by software and / or hardware methods and is generally integrated into a first node. The first node can include a base station or a terminal device, etc. Refer to Figure 1 , the method provided by the embodiment of the present application specifically includes the following steps:

[0038] Step 110: Perform perception management on the target object according to the preset process state. Among them, the preset process state can be a pre-configured perception state for performing perception management. The preset process state can include one or more different perception states. Different perception management operations can be executed in different perception states. For example, when the initial state of the target object is sensed, unique identification information can be created for the target object.

[0039] In the embodiments of the present application, the whole process of perception management of the target object can be performed through the pre-configured preset process state, which can improve the accuracy of object perception and enhance the perception coverage.

[0040] In some embodiments of the application, the preset process state at least includes one of the following: perception initial state, perception tracking state, and perception disappearance state.

[0041] In the embodiments of the present application, the perception initial state can be the initial state of sensing the target object, the perception tracking state can be the state of continuously sensing and tracking the target object, and the perception disappearance state can be the state of sensing the disappearance of the target object. Corresponding node perception processing operations are configured respectively within the perception initial state, perception tracking state, and perception disappearance state.

[0042] Based on the above embodiments of the application, the trigger of the perception initial state includes: the state of the target object to be sensed satisfies the first preset condition.

[0043] Among them, the state can be the data state composed of the data sensed for the target object. This state can include, but is not limited to, the speed of the target object sensed and the state of the signal strength of the target object sensed. The first preset condition can identify the critical condition for the target object to be sensed. For example, the first preset condition can include the lowest signal strength at which the state of the target object is sensed.

[0044] Based on the above embodiments of the application, performing perception management on the target object includes: sensing the position or movement-related state of the target object in the perception tracking state.

[0045] In the embodiments of the present application, in the perception tracking state, the position or movement-related state of the target object can be sensed.

[0046] Based on some other embodiments of the application, the trigger of the perception disappearance state includes: sensing the disappearance of the target object or the management release of the perception target.

[0047] In the embodiments of the present application, when the disappearance of the target object is sensed or the management release of the perception target is performed, it can be determined that the perception disappearance state is triggered.

[0048] Based on the above embodiments of the application, the perception disappearance includes at least one of the following:

[0049] The target object is out of the sensing range of the first node or the sensing fails;

[0050] The target object is in a stationary state;

[0051] The target object changes from a moving state to a stationary state;

[0052] The position or motion-related state of the target object cannot be sensed.

[0053] In the embodiments of the present application, the disappearance of sensing may include that the target object is out of the sensing range of the first node or the sensing fails, or the target object is in a stationary state and the first node cannot sense the target object through the sensing signal, or the target object changes from a moving state to a stationary state, or the position or motion-related state of the target object cannot be sensed. It can be understood that the motion-related state may include moving speed, moving direction, micro-Doppler value, etc.

[0054] In an exemplary embodiment, sensing the target object may include sensing the initial state, sensing the tracking state, and sensing the disappearance state.

[0055] Based on the above embodiments of the application, the sensing management of the target object is performed according to the preset process state, including:

[0056] Sense the target object in the preset process state and determine the target object identifier.

[0057] In the embodiments of the present application, the target object can be sensed according to the preset process state, and a target object identifier can be set for the sensed target object. The target object identifier can be used throughout the process of sensing the target object, and the target object identifier can be determined by an upper-layer instruction or determined by the first node.

[0058] Based on the above embodiments of the application, it further includes:

[0059] Maintain the communication and sensing integration information or sensing information of the target object based on the object identifier in the preset process state.

[0060] In the embodiments of the present application, during the process of performing sensing management on the target object based on the preset process state, the communication and sensing integration information or sensing information of the target object can be maintained based on the determined target object identifier.

[0061] Based on the above embodiments of the application, the communication and sensing integration information or sensing information includes at least one of the following: confidence level, micro-motion feature information, timestamp, speed, reference signal received power, reference signal received path power, reference node, reference path.

[0062] In the embodiments of the present application, the confidence level may be the confidence (expressed as a percentage) indicating the integrated communication and sensing information or the sensing information of the target object within the shape description range. The micro-motion feature information may be the information indicating the subtle motion of the target object. The micro-motion feature information may be represented based on the micro-Doppler value. The timestamp information may be the digital record of the date and time when the integrated communication and sensing information or the sensing information occurs. The speed may be the moving speed of the target object. The Reference Signal Received Power (RSRP), the Reference Signal Received Path Power (RSRPP), the reference node, and the reference path may be the relevant signal parameters used for sensing the integrated communication and sensing information or the sensing information of the target object.

[0063] Based on the above embodiments of the application, it further includes:

[0064] Transmitting the auxiliary sensing information of the target object to the second node.

[0065] In the embodiments of the present application, the first node may also transmit information to the second stage, and assist in sensing the target object through information accumulation. The information exchanged between the first node and the second node may be auxiliary sensing information, and this auxiliary sensing information may be used to sense the target object.

[0066] Based on the above embodiments of the application, the auxiliary sensing information includes at least one of the following: node position, time period measurement result, reference signal configuration information, position calculation method indication parameter, confidence level, timestamp, node capability, original state information.

[0067] In the embodiments of the present application, the second node may transmit the auxiliary sensing information to the first node. This auxiliary sensing information may include the information obtained by the second node through sensing the target object. This auxiliary sensing information may include, but is not limited to, at least one of node position, time period measurement result, reference signal configuration information, position calculation method indication parameter, confidence level, timestamp, node capability, original state information.

[0068] Figure 2 It is the flowchart of another target object sensing management method provided by the embodiments of the present application. The embodiments of the present application are the concretization based on the above embodiments of the application, and describe the information interaction method between the first node and the second node. Refer to Figure 2 The method provided by the embodiments of the present application specifically includes the following steps:

[0069] Step 210: Request at least one of data, configuration, or node capability from the second node.

[0070] In an embodiment of the present application, the first node may request at least one of data, configuration, or node capabilities from the second node, and the requested data, configuration, or node capabilities may assist the first node in perceiving a target object.

[0071] Step 220: Obtain the information responded by the second node.

[0072] In an embodiment of the present application, the second node may feedback information in response to the request of the first node, and the information may include at least one of data, configuration, or node capabilities.

[0073] Step 230: Perform perception management on the target object according to a preset process state.

[0074] Figure 3 It is a flowchart of another target object perception management method provided by an embodiment of the present application. The embodiment of the present application is a concretization based on the above-mentioned application embodiment, and describes the information interaction method between the first node and the second node. Refer to Figure 3 The method provided by the embodiment of the present application specifically includes the following steps:

[0075] Step 310: Obtain at least one of the data, configuration, or node capabilities provided by the second node.

[0076] In an embodiment of the present application, the second node may actively provide at least one of data, configuration, or node capabilities to the first node, and the first node may obtain one or more of the data, configuration, or node capabilities to implement auxiliary perception management of the target object.

[0077] Step 320: Perform perception management on the target object according to a preset process state.

[0078] Based on the above-mentioned application embodiment, performing perception management on the target object according to a preset process state includes:

[0079] When it is recognized that the target object enters the initial perception state of the preset process state, feedback the synaesthetic measurement information of the target object to the third node; obtain the object identifier feedback by the third node for the target object, and enter the tracking perception state of the preset process state.

[0080] Among them, the third node may be the management node of the first node, and the third node may include a base station, a network node, a core network unit, a location management function unit, an access and mobility management function unit, a perception function unit, etc.

[0081] In the embodiments of the present application, the preset process state may include a sensing initial state. When the first node recognizes a target object and enters the sensing initial state, it may upload the synaesthesia measurement information of the target object to the third node. The third node may determine the target object identifier of the target object based on the synaesthesia measurement information. The first node may obtain the target object identifier fed back by the third node and enter the sensing tracking state.

[0082] Based on the above embodiments of the application, in the sensing tracking state, the target object is sensed and managed according to the preset process state, including:

[0083] In the sensing tracking state of the preset process state, continuously obtain the synaesthesia measurement results according to the target object identifier of the target object; update the position information and sensing information of the target object according to the synaesthesia measurement results.

[0084] In the embodiments of the present application, when the first node is in the sensing tracking state, it may continuously sense the target object based on the target object identifier of the target object and obtain the corresponding synaesthesia measurement results. It can be understood that the target object identifier of the same target object remains unchanged in the sensing tracking state of the first node, and the position information and sensing information of the target object can be updated through the synaesthesia measurement results of the target object, so that the target object can be accurately recognized in the sensing tracking state of the first node.

[0085] Based on the above embodiments of the application, the target object is sensed and managed according to the preset process state, including: sensing the disappearance of the target object and entering the sensing disappearance state.

[0086] In the embodiments of the present application, when the first node senses the disappearance of the target object, it may enter the sensing disappearance state.

[0087] Based on the above embodiments of the application, sensing the disappearance of the target object includes at least one of the following:

[0088] The target object is in a stationary state; the target object exceeds the sensing range of the first node; the first node fails to sense the target object.

[0089] In the embodiments of the present application, when the first node senses that the target object is in a stationary state, it may be considered that the target object has disappeared, or when the target object moves out of the sensing range of the first node, the first node senses the disappearance of the target object, or when the first node fails to sense the target object, the first node senses the disappearance of the target object.

[0090] In some embodiments of the application, it further includes:

[0091] Determine the target object identifier associated with the target object.

[0092] In the embodiments of the present application, the first node may set a target object identifier associated with the target object. It can be understood that when a target object starts moving again after being stationary, the perception management of the target object by the first node can be in two different preset process states. The first node may consider that the target objects sensed before and after are not the same object. Therefore, the target object identifiers of the target object may be different before and after.

[0093] Based on the above embodiments of the application, determining the target object identifier associated with the target object includes:

[0094] Obtain the communication and sensing integrated information of the target object, and send the communication and sensing integrated information to the second node; receive the target object identifier determined by the second node based on the communication and sensing integrated information.

[0095] In the embodiments of the present application, after obtaining the communication and sensing integrated information of the target object, the first node may send the communication and sensing integrated information to the second node. The second node may determine the target object identifier of the target object based on the communication and sensing integrated information, and the first node may receive the target object identifier fed back by the second node.

[0096] Based on the above embodiments of the application, it further includes: The target object identifier is associated with the communication and sensing integrated information of the target object.

[0097] Based on the above embodiments of the application, it further includes:

[0098] Report the positioning measurement parameters and the communication and sensing measurement values.

[0099] In the embodiments of the present application, the first node may also report the positioning measurement parameters and the communication and sensing measurement values generated by sensing the target object.

[0100] Based on the above embodiments of the application, the positioning measurement parameters include at least one of the following: reference signal time difference, transmit-receive time difference, relative arrival time, positioning reference signal received path power, sidelink positioning reference signal received reference power, propagation path, or other paths.

[0101] Based on the above embodiments of the application, the communication and sensing measurement values include at least one of the following:

[0102] Propagation path information, speed information, Doppler information, sensed position information, reference signal received power, and reference signal received path power.

[0103] In some embodiments of the application, reporting the positioning measurement parameters and the communication and sensing measurement values includes at least one of the following:

[0104] Report the positioning measurement parameters and the communication and sensing measurement values for each configuration;

[0105] Report positioning measurement parameters and communication sensing measurement values for each transmission and reception point;

[0106] Report positioning measurement parameters and communication sensing measurement values for each resource;

[0107] Report positioning measurement parameters and communication sensing measurement values for each resource set;

[0108] Report positioning measurement parameters and communication sensing measurement values for each positioning frequency layer;

[0109] Report positioning measurement parameters and communication sensing measurement values for each terminal device.

[0110] In the embodiments of this application, the reporting of positioning measurement parameters and communication sensing measurement values may include the reporting of positioning measurement parameters and communication sensing measurement values with different granularities, specifically including but not limited to reporting positioning measurement parameters and communication sensing measurement values for each configuration; reporting positioning measurement parameters and communication sensing measurement values for each transmission and reception point; reporting positioning measurement parameters and communication sensing measurement values for each resource; reporting positioning measurement parameters and communication sensing measurement values for each resource set; reporting positioning measurement parameters and communication sensing measurement values for each positioning frequency layer.

[0111] Based on the above embodiments of the application, the positioning parameters and communication sensing measurement values are transmitted through at least one of the following information: sensing control information, side path control information, downlink control information, uplink control information, media access control unit, non-access stratum, high layer information, system information block.

[0112] In the embodiments of this application, the positioning parameters and communication sensing measurement values may be transmitted through one or more of the information such as sensing control information, side path control information, downlink control information, uplink control information, media access control unit, non-access stratum, high layer information, system information block.

[0113] In some embodiments of the application, the perception management of the target object is performed according to a preset process state, including:

[0114] Generate a target object identifier for at least one target object.

[0115] In the embodiments of this application, the first node may perform multi-target tracking for multiple target objects and generate respective target object identifiers for each target object.

[0116] In some embodiments of the application, it further includes:

[0117] Obtain the communication identifier of the target object and the target object identifier, and generate an identifier association relationship between the target object identifier and the communication identifier.

[0118] In an embodiment of the present application, a first node may obtain a communication identifier and a target object identifier set for a target object, and may associate the target object identifier of the target object with communication identifier information. For example, if the target object is a vehicle with communication capabilities, when the vehicle is sensed, the target object identifier for sensing the vehicle may be associated with the communication identifier of the vehicle, and this association information is transmitted by the first node to a second node.

[0119] In some embodiments of the application, the perception management of the target object is performed according to a preset process status, including:

[0120] Obtain at least one perception target trajectory of the target object by at least one second node; associate at least two perception target trajectories.

[0121] In an embodiment of the present application, there may be multiple second nodes for sensing the target object and generating perception target trajectories. When the first node obtains the perception target trajectories for the same target object, these perception target trajectories may be associated.

[0122] Based on the above embodiments of the application, it further includes at least one of the following:

[0123] Merge at least part of at least two perception target trajectories; delete at least part of the overlapping and duplicate trajectories of at least two perception target trajectories.

[0124] In an embodiment of the present application, for at least two perception target trajectories associated with a target object, the above perception target trajectories may be merged, or the overlapping and duplicate parts of the above perception target trajectories may be deleted.

[0125] Based on the above embodiments of the application, associating at least two perception target trajectories includes:

[0126] Associate at least two perception target trajectories; associate the target object identifiers of at least two perception target trajectories; associate the perception data of at least two perception target trajectories.

[0127] In an embodiment of the present application, associating at least two perception target trajectories for the same target object may include associating the perception target trajectories themselves, associating the target object identifiers corresponding to the perception target trajectories, and associating the perception data corresponding to the perception target trajectories, etc.

[0128] In an exemplary embodiment, refer to Figure 4, the second node may include terminal a and base station b. The sensing coverage area of terminal a may be S1, and the sensing coverage area of base station b may be S2. The movement trajectory of a target object may be ABCD. The sensed target trajectory of the target object by terminal a may be ABC, while the sensed target trajectory of the target object by base station b may be BCD. When the first node receives the sensed target trajectory ABC of the target object from terminal a and the sensed target trajectory BCD of the target object from base station b, the first node may associate the sensed target trajectory ABC with the sensed target trajectory BCD for the target object, thereby generating the sensed trajectory ABCD of the target object. It can be understood that this exemplary embodiment is only for illustration and not for limitation. When associating the sensed target trajectories, there may be multiple sensed target trajectories, that is, there may be multiple second nodes sensing the target object to generate sensed target trajectories. The number of second nodes may be 3, 4, 5, and more. The second nodes participating in sensing the sensed target trajectories of the target object may include those sensed only by terminals, those sensed only by base stations, or those sensed by terminals and base stations in cooperation, etc.

[0129] In an exemplary embodiment, the first node may perform sensing management on the target object through a preset process state, and the preset process state may include a sensing initial state, a sensing tracking state, and a sensing disappearance state. Refer to Figure 5 , and the preset process states may be convertible.

[0130] In some embodiments, the sensing initial state may be converted to the sensing tracking state, and the sensing tracking state may be converted to the sensing disappearance state.

[0131] In the embodiments of the present application, the sensing initial state may be the state of starting to sense the target object, and the sensing information of the target object may change from none to some. The sensing tracking state may be the state of continuously tracking the target object during the sensing process, and the sensing information of the target object may change from some to some. The sensing information of the target object may be continuously changing. The first node continuously senses and tracks the target object in the sensing tracking state and updates the sensing information of the target object. The sensing disappearance state may be the state of sensing that the target object has disappeared, and the sensing information of the target object may change from some to none.

[0132] Based on the above embodiments of the application, the reasons for the disappearance of the target object may include at least one of the following: the sensed target object exceeds the sensing range, the sensed target object is in a stationary state, the sensed target object changes from a moving state to a stationary state, the target object is not successfully sensed, or the movement state of the target object cannot be sensed.

[0133] Based on the above application embodiments, in the perception management of the target object, the first node may maintain the identity document (ID) of the target object, and the ID is associated with at least one of the following parameters of the target object: location, confidence, micro-Doppler, timestamp, speed, RSRP, RSRPP, reference node, and reference path.

[0134] In some application embodiments, the first node may report positioning measurement parameters and communication-sensing measurement values. Among them, the positioning measurement parameters include at least one of the following: reference signal time difference, transmit-receive time difference, relative arrival time, positioning reference signal received path power, sidelink positioning reference signal received reference power, propagation path, or other paths. The communication-sensing measurement values include at least one of the following: range-Doppler spectrum, propagation path information, speed information, Doppler information, sensed position information, reference signal received power, and reference signal received path power. The first node may report these measurement values or measurement parameters to the second node.

[0135] Furthermore, the positioning reference parameters and the communication-sensing measurement values may be reported for each configuration, for each transmission and reception point (TRP), for each resource, for each resource set, or for each positioning frequency layer (PFL), for each terminal device.

[0136] Furthermore, the first node may also perform information transmission with the second node. Among them, the second node may be a location management function unit (LMF) or a sensing function unit (SF). The transmitted information may include the location of the communication node, the measurement result of the time period, the configuration information of the reference signal, the methods or parameters calculated at different locations, the confidence of the result, the timestamp of the result, the capabilities of the communication node, and the information of the LMF before sensing. The first node may assist the sensing process through the above information to reduce interference.

[0137] In some application embodiments, refer to Figure 6 , the first node requests data, configuration, or related node capabilities from the second node, and the second node responds to the request and provides the corresponding information to the first node. Or, the second node provides data, configuration, or related node capability information to the first node.

[0138] Specifically, the first node may perform perception management of the target object through a preset process state, which may include the following processes:

[0139] 1. After the first node recognizes the target object, it enters the initial perception state, feeds back the measurement result to the SF or other units, and the SF or other units assign a target ID corresponding to the target object. Then the first node enters the perception tracking state;

[0140] 2. After the first node enters the perception tracking state, it updates the position, perception information, etc. of the target object according to the perception measurement result;

[0141] 3. When the first node senses that the target object stops, exceeds the sensing range, or fails to track, the first node enters the perception disappearance state.

[0142] In target management, they are considered two target nodes. At the same time point, the SF maintains one target ID.

[0143] Based on the above application embodiments, the first node and / or the second node can specifically be a UE, a base station, a core network unit, a TRP, a network node, a server, an SF, an LMF, or an Access and Mobility Management Function (AMF).

[0144] Figure 7 It is a flowchart of a method for configuring target object perception provided by the embodiments of the present application. The embodiments of the present application are applicable to the situation of expanding the sensing range. This method can be executed by a target perception configuration device, which can be implemented by software and / or hardware methods, and is generally integrated into the first node. The first node can include a base station or a terminal device, etc. Refer to Figure 7 The method provided by the embodiments of the present application specifically includes the following steps:

[0145] Step 410: Obtain configuration information according to the measurement request.

[0146] In the embodiments of the present application, the first node can obtain configuration information through a measurement request.

[0147] Based on the above application embodiments, the measurement request includes at least perception-related information, and the perception-related information includes at least one of the following:

[0148] Perception-related information for each configured perception; perception-related information for each transmit-receive point; perception-related information for each resource; perception-related information for each resource set; perception-related information for each physical frequency domain layer; perception-related information for each terminal device.

[0149] In the embodiments of the present application, at least perception-related information is carried in the measurement request, and the perception-related information may be perception-related information for different granularities, including but not limited to perception-related information for each resource set; perception-related information for each physical frequency domain layer; perception-related information for each terminal device.

[0150] Further, on the basis of the above application embodiments, the perception-related information includes at least one of the following:

[0151] Indication information that the low frequency band does not perceive the high frequency band; indication information that the high frequency band does not perceive the low frequency band; indication information that the low frequency band perceives preferentially; indication information that the high and low frequency bands perceive preferentially; indication information of default high frequency band perception; indication information of default low frequency band perception; request for the perception frequency band; reporting configuration of the perception method; indication of the line-of-sight path of the perception reference path; indication of the non-line-of-sight path of the perception reference path.

[0152] Specifically, referring to Figure 8 , in the target perception process of the first node, configuration can be obtained through the perception-related information, and the perception information may include indication information that the low frequency band does not perceive the high frequency band; indication information that the high frequency band does not perceive the low frequency band; indication information that the low frequency band perceives preferentially; indication information that the high and low frequency bands perceive preferentially; indication information of default high frequency band perception; indication information of default low frequency band perception; request for the perception frequency band; reporting configuration of the perception method; indication of the line-of-sight path of the perception reference path; indication of the non-line-of-sight path of the perception reference path, so as to obtain the configuration for managing the perception of the target object.

[0153] Figure 9 FIG. Figure 9 is a flowchart of a method for self-organizing a target object perception network provided by the embodiments of the present application. The application embodiments are applicable to the situation of expanding the perception range. The method can be executed by a target perception network self-organizing device, and the device can be implemented by software and / or hardware methods and is generally integrated in the first node. The first node may include a base station or a terminal device, etc. Referring to

[0154] Step 510, maintain communication-perception integrated information.

[0155] In the embodiments of the present application, the first node may maintain the communication-perception integrated information, and the communication-perception integrated information may include the communication-perception integrated information obtained by itself and / or the communication-perception integrated information obtained by other nodes.

[0156] Step 520, construct a perception network according to the communication-perception integrated information.

[0157] Specifically, the first node can construct a sensing network according to the maintained communication and sensing integrated information, thereby improving the coverage of the sensing network.

[0158] In some application embodiments, maintaining the communication and sensing integrated information includes:

[0159] Obtaining the sensing capability information of the second node.

[0160] In the embodiments of the present application, the communication and sensing integrated information maintained by the first node at least includes the sensing capability information of the second stage. The first node can obtain the sensing capability information of the second node and maintain this sensing capability information.

[0161] Based on the above application embodiments, the sensing capability information includes at least one of the following:

[0162] Support for the communication and sensing signal frequency band;

[0163] The processing capability of the communication and sensing signal;

[0164] The ability to process the communication and sensing signal in the first time period;

[0165] The ability to process the communication and sensing signal in the first time period within the second time period;

[0166] The maintenance ability to process sensing neighboring points within a specified time period;

[0167] The maintenance ability to process sensing neighboring points;

[0168] The receiving or sending ability to the sensing neighboring points.

[0169] Among them, the sensing capability information may include support for the communication and sensing signal frequency band, which may include the range or identifier of the supported communication and sensing signal frequency band; the processing capability of the communication and sensing signal, which may include the indication information on whether it can process the communication and sensing signal; the ability to process the communication and sensing signal in the first time period, which may include the ability to process the communication and sensing signal received within the first time period, and the first time period may be the time for receiving the communication and sensing signal; the ability to process the communication and sensing signal in the first time period within the second time period, which may include the ability to process the communication and sensing signal received in the first time period within the second time period, and the second time period may be the time for processing the communication and sensing signal; the maintenance ability to process sensing neighboring points within a specified time period, which may include the ability to process sensing neighboring points within the specified time period; the maintenance ability to process sensing neighboring points may be the ability of the node to maintain its sensing neighboring points; the receiving or sending ability to the sensing neighboring points may be the ability of the node to send information to or receive information from the sensing neighboring points. Among them, the sensing neighboring points may be nodes in adjacent positions within the sensing network.

[0170] In some other application embodiments, maintaining communication and sensing integrated information includes:

[0171] Maintaining a list of communication and sensing integrated nodes.

[0172] In the embodiments of the present application, the first node can maintain communication and sensing integrated nodes through a list. Different nodes' communication and sensing integrated information can be saved in this list. The communication and sensing integrated nodes maintained in the list can be the communication and sensing integrated nodes sensed by the first node, or the communication and sensing integrated nodes shared by other communication and sensing integrated nodes, or the communication and sensing integrated nodes that the first node has communicated with.

[0173] Based on the above application embodiments, maintaining a list of communication and sensing integrated nodes includes at least one of the following:

[0174] Discovering a second node with sensing function;

[0175] Maintaining a node list of the second node with sensing function;

[0176] Screening the second node with sensing function according to the measurement value.

[0177] In the embodiments of the present application, the ways for the first node to maintain the list of communication and sensing integrated nodes can include at least one of the following: The first node sends a second node with sensing function, and this second node can be added to the list of maintained sensing integrated nodes; constructing a node list for the second node with sensing function and maintaining this node list in the first stage; the first node can delete the second node with sensing function through the measurement value.

[0178] In some other application embodiments, maintaining a list of communication and sensing integrated nodes includes:

[0179] Obtaining a sensing function unit request for the list; reporting at least one piece of list information of the list in response to the sensing function unit request.

[0180] In the embodiments of the present application, the first node can have a sensing function unit request, and this sensing function unit request can request to obtain the list of maintained communication and sensing integrated nodes. The first node can report partial list information or all list information of the list in response to the sensing function unit request.

[0181] Based on the above application embodiments, maintaining a list of communication and sensing integrated nodes includes:

[0182] Obtaining node information transmitted by a third node, where the node information at least includes target node information; determining that the list includes the target node information, and transmitting a preset data packet to the target node corresponding to the target node information according to the list.

[0183] In an embodiment of the present application, the first node may obtain node information transmitted by the third node. When the target node information included in the node information is in the list maintained by the first node, the first node may transmit a preset data packet to the target node according to the target node information through the maintained list.

[0184] Based on the above application embodiment, it further includes: when the list does not include the target node information, feedback the first information to the third node.

[0185] In an embodiment of the present application, when the first node receives the node information of the third node and the target node information of the node information does not belong to the list maintained by the first node, the first node may feedback the first information to the third node, so that the third node knows that the list maintained by the first node does not include the target node information.

[0186] In some application embodiments, it further includes: reporting the list to the sensing master node.

[0187] Specifically, the first node may report the list of integrated communication and sensing nodes maintained by itself to the sensing master node, and the sensing master node may be a sensing functional unit or the master node of the sensing network where the first node is located.

[0188] In some application embodiments, maintaining the list of integrated communication and sensing nodes includes:

[0189] Obtaining the Internet protocol address of the second node; updating the list according to the Internet protocol address.

[0190] In an embodiment of the present application, the list of integrated communication and sensing nodes maintained by the first node may at least include the Internet protocol address of the integrated communication and sensing nodes. The Internet protocol address may be transmitted to the first node by the integrated communication and sensing node itself, that is, the second node may be an integrated communication and sensing node; the Internet protocol address may also be transmitted to the first node by other nodes. The second node may be a node having a communication connection with the first node, and the second node may forward the Internet protocol address of the integrated communication and sensing node to the third node. The first node may update the list of integrated communication and sensing nodes according to the Internet protocol address it receives. The update may include updating the Internet protocol address of the integrated communication and sensing node and adding the Internet protocol address of the integrated communication and sensing node.

[0191] The first node requests Internet protocol address configuration, disconnection, connection change, keep-alive related, security association, direct communication request, service data transmission information from the second node, and the second node responds to the request of the first node. The first node or the second node acts as a router of an Internet protocol, and the first node or the second node respectively has an Internet protocol routing list.

[0192] The first node sends a link update feedback to the second node.

[0193] Based on the above application embodiments, the request or response information includes at least one of the following: Internet Protocol address configuration or Internet Protocol address configuration indication, first node information, second node information, sensing service information, and security information.

[0194] Specifically, the Internet Protocol address configuration includes at least one of the following: supporting Internet Protocol routers, not supporting Internet Protocol routers.

[0195] In some application embodiments, the Internet Protocol address configuration indication includes at least one of the following: supporting Internet Protocol address allocation, not supporting Internet Protocol address allocation.

[0196] Figure 10 It is a flowchart of another target object sensing network self-organization method provided by the embodiments of the present application. The embodiments of the present application are specific implementations based on the above application embodiments, and describe the process of maintaining integrated communication and sensing information. Refer to Figure 10 The method provided by the embodiments of the present application specifically includes the following steps:

[0197] Step 610: Broadcast the sensing signal of the first node.

[0198] In the embodiments of the present application, the first node can broadcast its own sensing signal to obtain responses from other nodes.

[0199] Step 620: Receive the node information fed back by the second node in response to the sensing signal.

[0200] In the embodiments of the present application, when the second node receives the sensing signal broadcast by the first node, the second node can feed back node information to the first node in response to the sensing signal. This node information can identify the sensing ability of the second node and the configuration information related to sensing. The first node can receive the node information fed back by the first reception.

[0201] Step 630: Construct a sensing network according to the integrated communication and sensing information.

[0202] Based on the above application embodiments, the sensing signal includes at least one of the following information: node identifier, node location, sensing ability, supported frequency band, supported carrier frequency, supported partial bandwidth, maximum sensing range, power, beam, and sensing neighboring nodes.

[0203] Figure 11 It is a flowchart of another target object sensing network self-organization method provided by the embodiments of the present application. The embodiments of the present application are specific implementations based on the above application embodiments, and describe the process of maintaining integrated communication and sensing information. Refer to Figure 10 The method provided by the embodiments of the present application specifically includes the following steps:

[0204] Step 710: Transmit a request for obtaining node information to the second node.

[0205] In an embodiment of the present application, the first node may transmit a request to the second node, and the request may be used to obtain the node information of the second node.

[0206] Step 720: Receive the node information fed back by the second node.

[0207] Specifically, the second node may feed back the node information to the first node in response to the request, and the first node may receive the node information. It can be understood that the node information may include the sensing capabilities identifying the second node and the configuration information related to sensing.

[0208] Step 730: Construct a sensing network according to the communication-sensing integrated information.

[0209] Based on the above embodiments of the application, the node information includes at least one of the following: supported frequency band, maximum sensing range, power, node location, and sensing neighboring nodes.

[0210] In some embodiments of the application, maintaining the communication-sensing integrated information includes:

[0211] Reporting sensing capabilities through sensing neighboring nodes.

[0212] In an embodiment of the present application, the first node may report its own sensing capabilities through its sensing neighboring nodes in the sensing network, so that the sensing master node can obtain the sensing capabilities of the first node.

[0213] In an exemplary embodiment, Figure 12 is a schematic structural diagram of a sensing mode provided by an embodiment of the present application. Refer to Figure 12 , the sensing mode may include six modes: base station self-transmitting and self-receiving, base station transmitting and base station receiving, user equipment (UE) self-transmitting and self-receiving, user equipment transmitting and user equipment receiving, user equipment transmitting and base station receiving, and base station transmitting and user equipment receiving. In the target sensing network, the base station may sense or the base station and the user equipment may cooperate in sensing. Since the sensing range of the base station is not as large as the communication range, in order to expand the sensing range, the random distribution of the user equipment can be utilized through the self-organization method of the target sensing network to expand the sensing range.

[0214] In the embodiments of the present application, the sensing capabilities may include support for the frequency bands of the synaesthetic signals, the processing capabilities of the sensing signals, the capabilities of processing sensing signals, the capabilities of processing sensing signals in the first time period, the capabilities of processing the sensing signals in the first time period within the second time period, the maintenance capabilities of processing sensing neighboring points within a certain time period, the maintenance capabilities of processing sensing neighboring points, and the receiving or transmitting capabilities for sensing neighboring nodes.

[0215] Specifically, the first node executing the target sensing network self-organization method may maintain a list of sensing nodes for communication. The first node discovers nodes with sensing capabilities; or the first node maintains a list of nodes with sensing capabilities and can update this list; or the first node filters nodes according to measurement values. For example, nodes with measurement values / distances that meet the thresholds can be maintained. The sensing list may be: an individual or a set of nodes that can provide sensing services.

[0216] In the embodiments of the present application, the SF requests the list information of the first node, and the first node may respond to this request and report the corresponding list information.

[0217] In the target sensing network self-organization method, each UE may maintain its own node list. The UE sends corresponding data packets to the destination node according to the received first node information, which contains the destination node information. If the destination node is not included in the node list, it feeds back to the first node.

[0218] In the embodiments of the present application, in the target sensing network, the SF or the Server Node maintains a summary node list, and the UE or the base station reports the corresponding UE sensing capabilities or sensing lists to the SF or the Server Node. The reporting process may include that the UE reports the target node information to the SF or the server node according to the received first node information and the destination node information contained in the first node information. The SF or the server node designates a node for the UE to send in the next step, and the UE sends the corresponding data packet to the designated node. If the destination node or the designated node is not included in the node list, it feeds back a failure.

[0219] In the embodiments of the present application, in order to expand the sensing range by taking advantage of the characteristics of the UE's position being movable and random, etc.

[0220] 1. The UE reports its own position or sensing capabilities / functions, as well as parameters such as the supported frequency bands or carrier frequencies or BWPs, the maximum sensing range, power, beam, and its own current position, and the nodes ( / node pairs) around it that it can identify and provide sensing functions.

[0221] Step 1: Broadcast sensing signals, where the sensing signals include at least one of the following: the ID information of its own node, and this ID information can be the sensing application ID configured by each UE node for itself or the ID for sensing. This broadcast process can reuse the discover process;

[0222] Step 2: The UE node that receives the signal feeds back its own node information including at least one of the following: the supported frequency bands, the maximum sensing range, the power, the current position of its own node, and the communicable nodes around its own node that can be recognized.

[0223] Alternatively, node information is transmitted between two UE nodes by means of requests and responses.

[0224] In the embodiments of this application, the UE senses the UE sensing capabilities through neighbor node reporting / switching. Sensing capabilities: including support for the frequency bands of the communication and sensing signals, the signal processing capabilities, etc. It can be used to identify the server UE, making it easy to implement UE-based sensing. Among them, the server UE is equivalent to the distributed SF node, and the server node can report its own sensing results to the SF and notify the corresponding application layer.

[0225] Figure 13 It is a schematic structural diagram of a target object sensing management device provided by the embodiments of this application. This device can execute the target sensing method provided by any embodiment of this application and has the corresponding functional modules and beneficial effects for executing the method. This device can be implemented by software and / or hardware. As Figure 13 shown, the device provided by the embodiments of this application specifically includes:

[0226] A sensing management module 810, configured to perform sensing management on the target object according to a preset process state.

[0227] Based on the above application embodiments, the preset process states in the device include at least one of the following: a sensing initial state, a sensing tracking state, and a sensing disappearance state.

[0228] Based on the above application embodiments, the triggering of the sensing initial state includes: the state of the sensed target object satisfies a first preset condition.

[0229] Based on the above application embodiments, the sensing management module 810 is specifically configured to: sense the position or motion-related state of the target object in the sensing tracking state.

[0230] Based on the above application embodiments, the triggering of the sensing disappearance state in the device includes: the disappearance of the sensed target object or the release of the management of the sensed target.

[0231] Based on the above application embodiments, the sensing disappearance includes at least one of the following:

[0232] The target object is out of the sensing range of the first node or the sensing fails;

[0233] The target object is in a stationary state;

[0234] The target object changes from a moving state to a stationary state;

[0235] The position or motion-related state of the target object cannot be sensed.

[0236] Based on the above application embodiments, the sensing management module 810 is specifically configured to: sense the target object in a preset process state and determine the target object identifier.

[0237] Based on the above application embodiments, the device further includes: an information maintenance module, configured to maintain the communication sensing integration information or sensing information of the target object based on the target object identifier in a preset process state.

[0238] Based on the above application embodiments, the device further includes: an auxiliary information module, configured to transmit auxiliary sensing information of the target object to the second node.

[0239] Based on the above application embodiments, the auxiliary sensing information includes at least one of the following:

[0240] Node position, time period measurement result, reference signal configuration information, position calculation method indication parameter, confidence level, timestamp, node capability, original state information.

[0241] Based on the above application embodiments, the device further includes: requesting at least one of data, configuration, or node capability from the second node; obtaining the information responded by the second node.

[0242] Based on the above application embodiments, the device further includes: obtaining at least one of the data, configuration, or node capability provided by the second node.

[0243] Based on the above application embodiments, the sensing management module 810 is specifically configured to: recognize the sensing initial state of the target object entering the preset process state, feedback the communication sensing measurement information of the target object to the third node; obtain the target object identifier fed back by the third node for the target object, and enter the sensing tracking state of the preset process state.

[0244] Based on the above application embodiments, the sensing management module 810 is specifically configured to: in the sensing tracking state of the preset process state, continuously obtain the communication sensing measurement results according to the target object identifier of the target object; update the position information and sensing information of the target object according to the communication sensing measurement results.

[0245] Based on the above application embodiments, the perception management module 810 is specifically configured to: when it perceives the disappearance of the target object, enter the perception disappearance state.

[0246] Based on the above application embodiments, perceiving the disappearance of the target object includes at least one of the following:

[0247] The target object is in a stationary state;

[0248] The target object exceeds the perception range of the first node;

[0249] The first node fails to perceive the target object.

[0250] Based on the above application embodiments, the device further includes: an association module, configured to determine the target object identifier associated with the target object.

[0251] Based on the above application embodiments, the association module is specifically configured to:

[0252] Obtain the integrated communication and sensing measurement information of the target object, and send the integrated communication and sensing measurement information to the second node;

[0253] Receive the target object identifier determined by the second node based on the integrated communication and sensing measurement information.

[0254] Based on the above application embodiments, the association module further includes: the target object identifier is associated with the integrated communication and sensing information of the target object.

[0255] Based on the above application embodiments, the integrated communication and sensing information includes at least one of the following: location, confidence level, micro-motion feature information, timestamp, speed, reference signal received power, reference signal received path power, reference node, reference path.

[0256] Based on the above application embodiments, the device further includes: an information reporting module, configured to report positioning measurement parameters and integrated communication and sensing measurement values.

[0257] Based on the above application embodiments, the positioning measurement parameters include at least one of the following:

[0258] Reference signal time difference, transmit-receive time difference, relative arrival time, positioning reference signal received path power, sidelink positioning reference signal received reference power, propagation path or other paths.

[0259] Based on the above application embodiments, the integrated communication and sensing measurement values include at least one of the following:

[0260] Propagation path information, speed information, Doppler information, perceived location information, reference signal received power and reference signal received path power.

[0261] Based on the above application embodiments, report positioning measurement parameters and sensing measurement values, including at least one of the following:

[0262] Report positioning measurement parameters and sensing measurement values for each configuration;

[0263] Report positioning measurement parameters and sensing measurement values for each transmit-receive point;

[0264] Report positioning measurement parameters and sensing measurement values for each resource;

[0265] Report positioning measurement parameters and sensing measurement values for each resource set;

[0266] Report positioning measurement parameters and sensing measurement values for each positioning frequency layer;

[0267] Report positioning measurement parameters and sensing measurement values for each terminal device.

[0268] Based on the above application embodiments, the positioning parameters and sensing measurement values are transmitted through at least one of the following information:

[0269] Sensing control information, side path control information, downlink control information, uplink control information, media access control unit, non-access stratum, high layer information, system information block.

[0270] Based on the above application embodiments, the sensing management module 810 is specifically configured to: generate a target object identifier for at least one target object.

[0271] Based on the above application embodiments, the sensing management module 810 further includes: an identification processing unit, configured to obtain the communication identifier of the target object and the target object identifier, and generate an identification association relationship between the target object identifier and the communication identifier.

[0272] Based on the above application embodiments, the sensing management module 810 includes: a trajectory processing unit, configured to obtain a sensing target trajectory of at least one second node for the target object. A trajectory association unit, configured to associate at least two sensing target trajectories.

[0273] Based on the above application embodiments, the trajectory association unit is specifically configured to perform at least one of the following: merge at least part of the trajectories of at least two sensing target trajectories; delete at least part of the duplicate trajectories of at least two sensing target trajectories.

[0274] Based on the above application embodiments, the association of at least two sensing target trajectories by the trajectory association unit includes:

[0275] Associate at least two sensing target trajectories;

[0276] Associate the target object identifiers of at least two sensing target trajectories;

[0277] Perceived data associated with at least two perceived target trajectories.

[0278] Figure 14 It is a schematic structural diagram of a target object perception configuration device provided by an embodiment of the present application. The device can execute the target perception configuration method provided by any embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method. The device can be implemented by software and / or hardware. As Figure 14 shown, the device provided by the embodiment of the present application specifically includes:

[0279] A configuration acquisition module 910, configured to acquire configuration information according to a measurement request.

[0280] Based on the above application embodiment, the measurement request in the device at least includes perception-related information, and the perception-related information includes at least one of the following:

[0281] Perception-related information for each configuration;

[0282] Perception-related information for each sending and receiving point;

[0283] Perception-related information for each resource;

[0284] Perception-related information for each resource set;

[0285] Perception-related information for each physical frequency domain layer;

[0286] Perception-related information for each terminal device.

[0287] Based on the above application embodiment, the perception-related information includes at least one of the following:

[0288] Indication information that the low frequency band does not perceive the high frequency band;

[0289] Indication information that the high frequency band does not perceive the low frequency band;

[0290] Indication information that the low frequency band has priority in perception;

[0291] Indication information that the high and low frequency bands have priority in perception;

[0292] Indication information of default high frequency band perception;

[0293] Indication information of default low frequency band perception;

[0294] Request for the perceived frequency band;

[0295] Report configuration of the perception method;

[0296] Indication of the line-of-sight path of the perception reference path;

[0297] Indication of non-line-of-sight paths of the perception reference path.

[0298] Figure 15 It is a schematic structural diagram of a target object perception network self-organizing device provided by an embodiment of the present application. This device can execute the target perception network self-organizing method provided by any embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method. This device can be implemented by software and / or hardware. As Figure 15 shown, the device provided by the embodiment of the present application specifically includes:

[0299] An information maintenance module 1010, configured to maintain communication and perception integrated information.

[0300] A network construction module 1020, configured to construct a perception network according to the communication and perception integrated information.

[0301] Based on the above application embodiment, the information maintenance module 1010 includes:

[0302] A perception ability unit, configured to obtain the perception ability information of the second node.

[0303] Based on the embodiment of the present application, the perception ability information includes at least one of the following:

[0304] Support for the communication and sensing signal frequency band;

[0305] The processing ability of the communication and sensing signal;

[0306] The ability to process the communication and sensing signal in the first time period;

[0307] The ability to process the communication and sensing signal in the first time period within the second time period;

[0308] The maintenance ability to process perception neighboring points within a specified time period;

[0309] The maintenance ability to process perception neighboring points;

[0310] The receiving or sending ability of perception neighboring points.

[0311] Based on the above application embodiment, the information maintenance module 1010 includes: a list maintenance unit, configured to maintain a list of communication and sensing integrated nodes.

[0312] Based on the above application embodiment, the list maintenance unit is specifically used for at least one of the following:

[0313] Discover a second node with perception function;

[0314] Maintain a node list of the second node with perception function;

[0315] Filter the second node with sensing function according to the measurement value.

[0316] Based on the above application embodiments, the list maintenance unit is specifically configured to: obtain the sensing function unit request of the request list; report at least one list information of the list in response to the sensing function unit request.

[0317] Based on the above application embodiments, the list maintenance unit is specifically configured to: obtain the node information transmitted by the third node, where the node information at least includes the target node information; determine that the list includes the target node information, and transmit a preset data packet to the target node corresponding to the target node information according to the list.

[0318] Based on the above application embodiments, the list maintenance unit is further specifically configured to: when the list does not include the target node information, feedback the first information to the third node.

[0319] Based on the above application embodiments, the device further includes: a list reporting module, configured to report the list to the sensing master node.

[0320] Based on the above application embodiments, the list maintenance unit is further specifically configured to: obtain the Internet protocol address of the second node; update the list according to the Internet protocol address.

[0321] Based on the above application embodiments, the information maintenance module 1010 is specifically configured to: broadcast the sensing signal of the first node; receive the node information fed back by the second node in response to the sensing signal.

[0322] Based on the above application embodiments, the information maintenance module 1010 is specifically configured to: transmit a request for obtaining node information to the second node; receive the node information fed back by the second node.

[0323] Based on the above application embodiments, the sensing signal includes at least one of the following information: node identifier, node location, sensing ability, supported frequency band, supported carrier frequency, supported partial bandwidth, maximum sensing range, power, beam, and sensing neighboring nodes.

[0324] Based on the above application embodiments, the node information includes at least one of the following: supported frequency band, maximum sensing range, power, node location, and sensing neighboring nodes.

[0325] Based on the above application embodiments, the information maintenance module 1010 is specifically configured to: report the sensing ability through the sensing neighboring nodes.

[0326] Figure 16 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device includes a processor 10, a memory 11, an input device 12, and an output device 13; the number of processors 10 in the electronic device can be one or more.Figure 16 Taking a processor 10 as an example in the middle; in an electronic device, the processor 10, the memory 11, the input device 12, and the output device 13 can be connected by a bus or other means. Figure 16 Taking the connection by bus as an example in the middle.

[0327] The memory 11, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the device in the embodiments of the present application (the perception management module 810, the configuration acquisition module 910, or the information maintenance module 1010, and the network construction module 1020). The processor 10 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 11, that is, implementing the above method.

[0328] The memory 11 may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the electronic device. In addition, the memory 11 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 11 may further include a memory remotely set relative to the processor 10, and these remote memories can be connected to the electronic device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0329] The input device 12 can be used to receive input digital or character information, and generate key signal inputs related to the user settings and function controls of the electronic device. The output device 13 may include a display device such as a display screen.

[0330] The embodiments of the present application further provide a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute a target perception method when executed by a computer processor. The method includes:

[0331] Performing perception management on the target object according to a preset process state.

[0332] Alternatively, the computer-executable instructions are used to execute a target perception configuration method when executed by a computer processor. The method includes:

[0333] Obtaining configuration information according to a measurement request.

[0334] Alternatively, the computer-executable instructions are used to execute a target perception network self-organization method when executed by a computer processor. The method includes:

[0335] Maintaining communication perception integrated information;

[0336] Construct a sensing network according to the integrated communication and sensing information.

[0337] From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software and necessary general-purpose hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk, or optical disc of a computer, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present application.

[0338] It should be noted that in the embodiments of the above device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present application.

[0339] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the devices and equipment can be implemented as software, firmware, hardware, and their appropriate combinations.

[0340] In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be executed by the cooperation of several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. The corresponding software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes but is not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, communication media typically contains computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery medium.

[0341] The foregoing has described preferred embodiments of the present invention with reference to the accompanying drawings and is not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and spirit of the present invention shall fall within the scope of the present invention.

Claims

1. A target object perception management method, characterized in that: Applied to the first node, the method comprises: Perception management of target objects is performed according to preset process status.

2. The method according to claim 1, characterized in that: The preset process state includes at least one of the following: a perception initial state, a perception tracking state, and a perception disappearance state.

3. The method according to claim 2, characterized in that: The triggering of sensing the initial state includes: sensing that the state of the target object satisfies a first preset condition.

4. The method according to claim 2, characterized in that: The perception management of the target object includes: In the sensing and tracking state, the position or motion-related state of the target object is sensed.

5. The method according to claim 2, characterized in that: The triggering of the perception disappearance state includes: Sense the disappearance of the target object or release the management of the sensed target.

6. The method according to claim 5, characterized in that: The loss of perception includes at least one of the following: The target object is beyond the sensing range of the first node or sensing fails; The target object is in a stationary state; The target object changes from a moving state to a stationary state; The position or motion-related state of the target object cannot be sensed.

7. The method according to claim 1, characterized in that: The sensing management of the target object according to the preset process state includes: The target object is sensed in the preset process state and a target object identifier is determined.

8. The method according to claim 7, characterized in that: Also includes: In the preset process state, the communication perception integration information or the perception information of the target object is maintained based on the target object identifier.

9. The method according to claim 1, characterized in that: Also includes: Transmit auxiliary perception information of the target object with the second node.

10. The method according to claim 9, characterized in that: The auxiliary perception information includes at least one of the following: Node location, time period measurement results, reference signal configuration information, location calculation method indication parameters, confidence, timestamp, node capabilities, and original status information.

11. The method according to claim 1, characterized in that: Also includes: requesting at least one of data, configuration, or node capabilities from the second node; Obtain information responded by the second node.

12. The method according to claim 1, characterized in that: Also includes: At least one of data, configuration, or node capability provided by the second node is obtained.

13. The method according to claim 1, characterized in that: The sensing and management of the target object according to the preset process state includes: Identifying that the target object enters the initial state of perception of the preset process state, and feeding back the synaesthesia measurement information of the target object to the third node; The target object identifier fed back by the third node for the target object is obtained, and the perception tracking state of the preset process state is entered.

14. The method according to claim 1, characterized in that: The sensing and management of the target object according to the preset process state includes: In the perception tracking state of the preset process state, continuously acquiring the synaesthesia measurement result according to the target object identifier of the target object; The position information and the perception information of the target object are updated according to the synaesthesia measurement result.

15. The method according to claim 1, characterized in that: The sensing and management of the target object according to the preset process state includes: The disappearance of the target object is sensed, and the sensed disappearance state is entered.

16. The method according to claim 15, characterized in that: The sensing of disappearance of the target object includes at least one of the following: The target object is in a stationary state; The target object is beyond the sensing range of the first node; The first node fails to sense the target object.

17. The method according to claim 1, characterized in that: Also includes: A target object identifier associated with the target object is determined.

18. The method according to claim 17, characterized in that: The determining the target object identifier associated with the target object includes: Acquire synaesthesia measurement information of the target object, and send the synaesthesia measurement information to the second node; Receive a target object identifier determined by the second node based on the synaesthesia measurement information.

19. The method according to claim 17, characterized in that: Also includes: The target object identifier is associated with the communication perception integrated information of the target object.

20. The method according to claim 8 or 19, characterized in that: The communication perception integrated information includes at least one of the following: position, confidence, micro-motion feature information, timestamp, speed, reference signal receiving power, reference signal receiving path power, reference node, and reference path.

21. The method according to claim 1, characterized in that: Also includes: Report positioning measurement parameters and synaesthesia measurement values.

22. The method according to claim 21, characterized in that: The positioning measurement parameters include at least one of the following: Reference signal time difference, receive and send time difference, relative arrival time, positioning reference signal receive path power, side link positioning reference signal receive reference power, propagation path or other paths.

23. The method according to claim 21, characterized in that: The synaesthesia measurement value includes at least one of the following: Propagation path information, velocity information, Doppler information, perceived location information, reference signal received power, and reference signal received path power.

24. The method according to claim 21, characterized in that: The reporting of positioning measurement parameters and synaesthesia measurement values ​​includes at least one of the following: Reporting the positioning measurement parameters and the synaesthesia measurement values ​​for each configuration; Reporting the positioning measurement parameters and the synaesthesia measurement value for each sending and receiving point; Reporting the positioning measurement parameter and the synaesthesia measurement value for each resource; Reporting the positioning measurement parameter and the synaesthesia measurement value for each resource set; Reporting the positioning measurement parameters and the synaesthesia measurement value for each positioning frequency layer; The positioning measurement parameter and the synaesthesia measurement value are reported for each terminal device.

25. The method according to claim 21, characterized in that: The positioning parameter and the synaesthesia measurement value are transmitted via at least one of the following information: Perception control information, side channel control information, downlink control information, uplink control information, media access layer control unit, non-access layer, high-layer information, system information block.

26. The method according to claim 2, characterized in that: The sensing and managing of the target object according to the preset process state also includes: A target object identification of at least one of the target objects is generated.

27. The method according to claim 2, characterized in that: Also includes: The communication identifier and the target object identifier of the target object are acquired, and an identifier association relationship between the target object identifier and the communication identifier is generated.

28. The method according to claim 1, characterized in that: The sensing and management of the target object according to the preset process state includes: Acquire a target trajectory sensed by at least one second node for the target object; At least two of the perceived target trajectories are associated.

29. The method according to claim 28, characterized in that: Also includes at least one of the following: merging at least partial trajectories of at least two of the perceived target trajectories; At least partially repeated trajectories of at least two of the perception target trajectories are deleted.

30. The method according to claim 28, characterized in that The associating at least two of the perceived target trajectories comprises: associating at least two of the sensed target trajectories; Associating at least two target object identifiers of the sensed target trajectories; The sensed data of at least two of the sensed target trajectories are associated.

31. A target object perception configuration method, characterized in that: Applied to the first node, the method comprises: Get configuration information based on measurement request.

32. The method according to claim 31, characterized in that: The measurement request includes at least perception related information, and the perception related information includes at least one of the following: the perception-related information for each configuration; The perception related information for each sending and receiving point; the sensing-related information for each resource; the perception-related information for each resource set; The perception-related information for each physical frequency domain layer; The perception-related information for each terminal device.

33. The method according to claim 31, characterized in that: The perception-related information includes at least one of the following: The low frequency band does not perceive the indication information of the high frequency band; The high frequency band does not perceive the indication information of the low frequency band; Indication information for low-band perception priority; Indication information for high and low frequency band perception priority; Indication of default high-band awareness; Indication of default low-band awareness; Request to sense the frequency band; Reporting configuration of perception methods; Indication of sight path of perceptual reference path; An indication of the non-line-of-sight path of the perceived reference path.

34. A target object perception network self-organization method, characterized in that: Applied to the first node, the method comprises: Maintain communication perception integration information; A perception network is constructed according to the communication perception integrated information.

35. The method according to claim 34, characterized in that The maintenance communication perception integrated information includes: Acquire the sensing capability information of the second node.

36. The method according to claim 35, characterized in that The sensory capability information includes at least one of the following: Support for synaesthesia signal frequency bands; Ability to process synaesthesia signals; The ability to process synaesthesia signals of the first time period; the ability to process synaesthesia signals from a first time period in a second time period; Ability to handle maintenance of perceived neighbors within a specified time period; Processing maintenance capabilities of perceived neighbors; The ability to receive or send to a perceived neighbor.

37. The method according to claim 34, characterized in that The maintenance communication perception integrated information includes: Maintains a list of synaesthesia integration nodes.

38. The method according to claim 37, characterized in that The list of nodes for maintaining synaesthesia integration includes at least one of the following: Discovering a second node with sensing capabilities; Maintaining a node list of second nodes having a sensing function; The second node having the perception function is selected according to the measurement value.

39. The method according to claim 37, characterized in that: The list of nodes for maintaining synaesthesia integration includes: Obtain a request for a perception functional unit requesting said list; In response to the perception function unit requesting to report at least one piece of list information of the list.

40. The method according to claim 37, characterized in that: The list of maintaining synaesthesia integration nodes includes: Acquire node information transmitted by a third node, wherein the node information at least includes target node information; It is determined that the list includes the target node information, and a preset data packet is transmitted to the target node corresponding to the target node information according to the list.

41. The method according to claim 40, characterized in that Also includes: The list does not include the target node information, and the first information is fed back to the third node.

42. The method according to claim 37, characterized in that: Also includes: Report the list to the perception master node.

43. The method according to claim 37, characterized in that: The list of nodes for maintaining synaesthesia integration includes: Obtaining an Internet Protocol address of a second node; The list is updated based on the Internet Protocol address.

44. The method according to claim 34, characterized in that: The maintenance of synaesthesia integration information includes: broadcasting a perception signal of the first node; Receive node information fed back by the second node in response to the sensing signal.

45. The method according to claim 34, characterized in that The maintenance of synaesthesia integration information includes: Transmitting a request for obtaining node information to the second node; Receive the node information fed back by the second node.

46. ​​The method according to claim 44, characterized in that The perception signal includes at least one of the following information: node identification, node location, perception capability, supported frequency band, supported carrier frequency, supported partial bandwidth, maximum perception range, power, beam and perceived neighboring node.

47. The method according to claim 44 or 45, characterized in that The node information includes at least one of the following: supported frequency band, maximum sensing range, power, node location, and sensed neighboring nodes.

48. The method according to claim 34, characterized in that: The maintenance of synaesthesia integration information includes: The sensing capability is reported by sensing neighboring nodes.

49. An electronic device, characterized in that: The electronic device comprises: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 48.

50. A computer-readable storage medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs are executed by one or more processors to implement the method according to any one of claims 1-48.

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