Target detection method and device

Abstract

The invention provides a target detection method and device, and relates to the field of wireless communication. In the method, a perception management device can obtain N pieces of first perception information corresponding to K scattering points, and sends target indication information and position prediction information to a perception device according to the N pieces of first perception information. Wherein the first sensing information is information of scattering points obtained by sensing the scattering points corresponding to the first sensing information in the first time period. The target indication information indicates that the M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points. The position prediction information indicates the predicted position of each scattering point in the M scattering points in the second time period and is used for sensing the target in the second time period. In the process, the sensing management device can indicate which scattering points in the K scattering points belong to the same target to the sensing device, so that the sensing device can perform sensing by taking the target as granularity in the second time period to improve the sensing precision.

Description

Technical Field

[0001] This application relates to the field of wireless communication, and in particular, to a target detection method and apparatus. Background Art

[0002] With the development of communication technology, more and more communication scenarios have emerged, such as human connection scenarios, Internet of Things (IoT) scenarios, or vehicle connection scenarios. To enhance the service capabilities in these scenarios, the concept of integrated sensing and communication (ISAC) has been proposed. ISAC means that network devices and / or terminals not only have communication capabilities but also have sensing capabilities, and can detect information such as the location or speed of a target. Taking the network device detecting the location of a target as an example, the network device can send a signal to the target and receive the echo signal reflected by the target after the signal reaches the target. Subsequently, the network device can determine the location of the target based on information such as the time of sending the signal, the time of receiving the echo signal, the direction of sending the signal, and the direction of receiving the echo signal. However, the accuracy of positioning the target using this method is not high. Summary of the Invention

[0003] This application provides a target detection method and apparatus, which can perform sensing at the granularity of a target, thereby improving the sensing accuracy.

[0004] To achieve the above object, the following technical solutions are adopted in this application:

[0005] In a first aspect, a target detection method is provided. This method can be executed by a sensing management device. Here, the sensing management device can refer to the sensing management device itself, or a processor, module, logical node, chip, or chip system in the sensing management device that implements this method.

[0006] The method includes: obtaining N first sensing information, and sending target indication information and position prediction information according to the N first sensing information. Among them, the N first sensing information corresponds to K scattering points, and any one of the first sensing information is the information of the scattering point sensed for the corresponding scattering point within the first time period. K is an integer greater than 1, and N is an integer greater than or equal to K. The target indication information indicates that M scattering points belong to the same target. The M scattering points are all or part of the K scattering points. The position prediction information indicates the position of each of the M scattering points in the second time period. The second time period is later than the first time period, and the position prediction information is used to sense the target within the second time period.

[0007] Based on the method provided in the above first aspect, the perception management device can obtain N first perception information corresponding to K scattering points, and indicate to the device (such as the first perception device) that receives the target indication information that M scattering points among the K scattering points belong to the same target, so that the first perception device can perform perception at the granularity of the target in the second time period to improve the perception accuracy. In addition, the perception management device also indicates to the device (such as the first perception device) that receives the position prediction information the position of each of the predicted M scattering points in the second time period, so that the first perception device can perceive the target according to the indication of the perception management device in the second time period. Since the first perception device obtains in advance the possible positions where the target may appear, it can further process the signal in the direction of this position, such as increasing the transceiver power of the signal through beamforming, so as to further improve the accuracy of detection and positioning.

[0008] In a possible implementation manner, the method further includes: sending first indication information to the first perception device, where the first indication information indicates that the first scattering point among the M scattering points is the one perceived by the first perception device in the first time period.

[0009] Based on the above possible implementation manner, if the first perception device perceives all or part of the K scattering points (such as the first scattering point) in the first time period, the perception management device indicates these scattering points to the first perception device, so that the first perception device can associate the same scattering points perceived in the first time period and the second time period. In this way, when the first perception device detects the target, it can combine the information of the first scattering point perceived in the first time period to improve the perception accuracy.

[0010] In a possible implementation manner, the method further includes: sending perception operation indication information, where the perception operation indication information indicates the perception operation to be performed on the target in the second time period.

[0011] Based on the above possible implementation manner, it can enable the device (such as the first perception device) that receives the perception operation indication information to perform corresponding perception operations on the target in the second time period.

[0012] In a possible implementation manner, the perception operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition, or pose recognition.

[0013] Based on the above possible implementation manner, it can enable the first perception device to perform one or more of the following operations on the target in the second time period: positioning operation, motion direction recognition, orientation recognition, or pose recognition.

[0014] In a possible implementation, the sensing operation includes pose recognition, and the method further includes: sending pose type information, where the pose type information is used to indicate the positions of the M scattering points corresponding to different pose types.

[0015] Based on the above possible implementation, a device (such as the first sensing device) that receives the pose type information can determine the pose of the target in the second time period according to the pose type information.

[0016] In a possible implementation, the method further includes: sending sensing method indication information, where the sensing method indication information indicates the sensing method used to perform the sensing operation on the target.

[0017] Based on the above possible implementation, a device (such as the first sensing device) that receives the sensing method indication information can determine the sensing method used to perform the sensing operation on the target.

[0018] In a possible implementation, the sensing method includes sensing information about the center point of the target or sensing information about a specified position on the target.

[0019] Based on the above possible implementation, the first sensing device can sense information about the center point of the target or sense information about a specified position on the target according to the sensing method indication information.

[0020] In a possible implementation, the method further includes: obtaining second sensing information, where the second sensing information indicates the information obtained by sensing the target in the second time period according to the sensing operation indication information.

[0021] Based on the above possible implementation, the sensing management device can obtain the information obtained by sensing the target in the second time period according to the sensing operation indication information.

[0022] In a possible implementation, the method further includes: sending resource indication information, where the resource indication information indicates at least one of the time domain resources, frequency domain resources, or spatial domain resources used to sense the target in the second time period.

[0023] Based on the above possible implementation, a device (such as the first sensing device) that receives the resource indication information can use at least one of the above time domain resources, frequency domain resources, or spatial domain resources to sense the target in the second time period.

[0024] In a possible implementation, the information of the scattering point indicates the position of the scattering point and the first time period.

[0025] Based on the above possible implementation, the sensing management device can obtain the position of the scattering point and the first time period, and then send target indication information and position prediction information according to this information.

[0026] In a possible implementation, the information of the scattering point further indicates the Doppler shift of the scattering point.

[0027] Based on the above possible implementation, the perception management device can also obtain the Doppler shift of the scattering point, and then send the target indication information and the position prediction information according to the Doppler shift of the scattering point.

[0028] In a possible implementation, the method further includes: sending first position information, where the first position information indicates the position of each of the M scattering points in the first time period.

[0029] Based on the above possible implementation, a device (such as a first perception device) that receives the first position information can, when detecting a target, combine the position of each of the M scattering points in the first time period to improve the perception accuracy.

[0030] In a second aspect, a target detection method is provided, and this method can be executed by a first perception device. Here, the first perception device can refer to the first perception device itself, or a processor, module, logic node, chip, or chip system in the first perception device that implements this method.

[0031] The method includes: receiving target indication information and position prediction information, and perceiving the target in a second time period according to the target indication information and the position prediction information. Wherein, the target indication information indicates that M scattering points belong to the same target, the position prediction information indicates the position of each of the M scattering points predicted in the second time period, and M is an integer greater than 1.

[0032] Based on the method provided in the above second aspect, the first perception device can determine that M scattering points belong to the same target, and perform perception with the target as a granularity, thereby improving the perception accuracy. In addition, the first perception device can also determine the possible position of the target in the second time period according to the position prediction information, so it can further process the signal in the direction of this position, such as increasing the transceiver power of the signal through beamforming, to further improve the detection and positioning accuracy.

[0033] In a possible implementation, the method further includes: obtaining P pieces of first perception information, where the P pieces of first perception information respectively correspond to P scattering points, and any one of the first perception information is the information of the scattering point obtained by perceiving the corresponding scattering point in the first time period, the P scattering points are all or part of the M scattering points, the second time period is later than the first time period, and P is a positive integer; sending the P pieces of first perception information.

[0034] Based on the above possible implementation manners, the first sensing device may obtain P first sensing information and send the P first sensing information, so that a device (such as a sensing management device) that receives the P first sensing information determines whether the P scattering points corresponding to the P first sensing information are scattering points of the same target.

[0035] In a possible implementation manner, the method further includes: receiving first indication information, where the first indication information indicates that a first scattering point among the M scattering points is a scattering point among the P scattering points.

[0036] Based on the above possible implementation manners, the first sensing device may determine that a first scattering point among the M scattering points is a scattering point sensed by itself in the first time period, so as to associate the same scattering points sensed in the first time period and the second time period. In this way, when the first sensing device detects a target, it may combine the information of the first scattering point sensed in the first time period to improve the sensing accuracy.

[0037] In a possible implementation manner, the information of the scattering point indicates the position of the scattering point and the first time period.

[0038] Based on the above possible implementation manners, the first sensing device may send the position of the scattering point and the first time period, so that a device (such as a sensing management device) that receives the information determines which scattering points belong to the same target according to the information.

[0039] In a possible implementation manner, the information of the scattering point further indicates the Doppler shift of the scattering point.

[0040] Based on the above possible implementation manners, the first sensing device may send the Doppler shift of the scattering point, so that a device (such as a sensing management device) that receives the information determines which scattering points belong to the same target according to the information.

[0041] In a possible implementation manner, the method further includes: receiving sensing operation indication information, where the sensing operation indication information indicates a sensing operation performed on the target in the second time period; sensing the target in the second time period according to the target indication information and the position prediction information, including: performing the sensing operation on the target in the second time period according to the target indication information and the position prediction information to obtain second sensing information.

[0042] Based on the above possible implementation manners, the first sensing device may perform the sensing operation indicated by the sensing operation indication information on the target in the second time period according to the target indication information and the position prediction information to obtain second sensing information.

[0043] In a possible implementation manner, the method further includes: sending the second sensing information.

[0044] Based on the above possible implementation manners, a device that receives the second sensing information (such as a sensing management device) can obtain information of the target obtained by the first sensing device performing corresponding sensing operations on the target within the second time period.

[0045] In a possible implementation manner, the sensing operation includes at least one of the following: a positioning operation, a motion direction recognition, an orientation recognition, or a pose recognition.

[0046] Based on the above possible implementation manners, the first sensing device can perform at least one of the following operations on the target: a positioning operation, a motion direction recognition, an orientation recognition, or a pose recognition.

[0047] In a possible implementation manner, the sensing operation includes a pose recognition, and the method further includes: receiving pose type information, where the pose type information is used to indicate positions of the M scattering points corresponding to different pose types.

[0048] Based on the above possible implementation manners, the first sensing device can determine the pose of the target within the second time period according to the pose type information.

[0049] In a possible implementation manner, the method further includes: receiving sensing mode indication information, where the sensing mode indication information indicates a sensing mode used to perform the sensing operation on the target.

[0050] Based on the above possible implementation manners, the first sensing device can determine the sensing mode used to perform the sensing operation on the target according to the sensing mode indication information.

[0051] In a possible implementation manner, the sensing mode includes sensing information of a center point of the target, or sensing information of a specified position on the target.

[0052] Based on the above possible implementation manners, the first sensing device can sense information of a center point of the target according to the sensing mode indication information, or sense information of a specified position on the target.

[0053] In a possible implementation manner, the method further includes: receiving resource indication information, where the resource indication information indicates at least one of a time domain resource, a frequency domain resource, or a spatial domain resource used to sense the target within the second time period.

[0054] Based on the above possible implementation manners, the first sensing device can sense the target within the second time period by using at least one of the above time domain resources, frequency domain resources, or spatial domain resources.

[0055] In a possible implementation, the method further includes: receiving first position information, where the first position information indicates the position of each of the M scattering points in a first time period, and the second time period is later than the first time period.

[0056] Based on the above possible implementation, when detecting a target, the first sensing device can combine the positions of each of the M scattering points in the first time period to improve the sensing accuracy.

[0057] In a third aspect, a communication device is provided for implementing the above method. The communication device may be the sensing management device in the first aspect above. The communication device includes corresponding modules, units, or means for implementing the above method, and the modules, units, or means may be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0058] In a possible implementation, the communication device may include a processing module and an interface module. The processing module may be used to implement the processing functions in the first aspect above and any of its possible implementations. The processing module may be a processor, for example. The interface module, which may also be referred to as an interface unit, is used to implement the sending and / or receiving functions in the first aspect above and any of its possible implementations. The interface module may be composed of an interface circuit, a transceiver, a transceiver, or a communication interface.

[0059] In a possible implementation, the interface module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the first aspect above and any of its possible implementations.

[0060] In a possible implementation, the processing module is used to obtain N pieces of first sensing information, where the N pieces of first sensing information correspond to K scattering points, and any piece of first sensing information is the information of the scattering point obtained by sensing the corresponding scattering point within the first time period. K is an integer greater than 1, and N is an integer greater than or equal to K; the interface module is used to send target indication information and position prediction information according to the N pieces of first sensing information. The target indication information indicates that the M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points. The position prediction information indicates the position of each of the M scattering points in a second time period, and the second time period is later than the first time period. The position prediction information is used to sense the target within the second time period.

[0061] In a possible implementation, the interface module is used to send first indication information to the first sensing device, where the first indication information indicates that the first scattering point among the M scattering points is the one sensed by the first sensing device within the first time period.

[0062] In a possible implementation, the interface module is further configured to send sensing operation indication information, where the sensing operation indication information indicates the sensing operations performed on the target during the second time period.

[0063] In a possible implementation, the sensing operations include at least one of the following: positioning operation, motion direction recognition, orientation recognition, or pose recognition.

[0064] In a possible implementation, the sensing operation includes pose recognition, and the interface module is further configured to send pose type information, where the pose type information is used to indicate the positions of the M scattering points corresponding to different pose types.

[0065] In a possible implementation, the interface module is further configured to send sensing method indication information, where the sensing method indication information indicates the sensing method used to perform the sensing operation on the target.

[0066] In a possible implementation, the sensing method includes sensing information of the center point of the target or sensing information of a specified position on the target.

[0067] In a possible implementation, the processing module is further configured to obtain second sensing information, where the second sensing information indicates the information obtained by sensing the target during the second time period according to the sensing operation indication information.

[0068] In a possible implementation, the interface module is further configured to send resource indication information, where the resource indication information indicates at least one of the time domain resources, frequency domain resources, or spatial domain resources used to sense the target during the second time period.

[0069] In a possible implementation, the information of the scattering point indicates the position of the scattering point and the first time period.

[0070] In a possible implementation, the information of the scattering point further indicates the Doppler frequency shift of the scattering point.

[0071] In a possible implementation, the interface module is further configured to send first position information, where the first position information indicates the positions of each of the M scattering points during the first time period.

[0072] In a fourth aspect, a communication device is provided for implementing the above method. The communication device may be the first sensing device in the second aspect above. The communication device includes corresponding modules, units, or means for implementing the above method, and the modules, units, or means may be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0073] In a possible implementation, the communication device may include a processing module and an interface module. The processing module may be used to implement the processing functions in the second aspect and any possible implementation manners thereof. The processing module may be, for example, a processor. The interface module, which may also be referred to as an interface unit, is used to implement the sending and / or receiving functions in the second aspect and any possible implementation manners thereof. The interface module may be composed of an interface circuit, a transceiver, a transceiver, or a communication interface.

[0074] In a possible implementation, the interface module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in the second aspect and any possible implementation manners thereof.

[0075] In a possible implementation, the interface module is used to receive target indication information and position prediction information. The target indication information indicates that M scattering points belong to the same target, and the position prediction information indicates the positions of each of the M scattering points in a second time period. M is an integer greater than 1; the processing module is used to sense the target within the second time period according to the target indication information and the position prediction information.

[0076] In a possible implementation, the processing module is further used to obtain P pieces of first sensing information, which respectively correspond to P scattering points. Any one of the P pieces of first sensing information is the information of the scattering point obtained by sensing the corresponding scattering point within a first time period. The P scattering points are all or part of the M scattering points, and the second time period is later than the first time period. P is a positive integer; the interface module is further used to send the P pieces of first sensing information.

[0077] In a possible implementation, the interface module is further used to receive first indication information, which indicates that a first scattering point among the M scattering points is a scattering point among the P scattering points.

[0078] In a possible implementation, the information of the scattering point indicates the position of the scattering point and the first time period.

[0079] In a possible implementation, the information of the scattering point further indicates the Doppler frequency shift of the scattering point.

[0080] In a possible implementation, the interface module is further used to receive sensing operation indication information, which indicates a sensing operation performed on the target within the second time period; the processing module is specifically used to perform the sensing operation on the target within the second time period according to the target indication information and the position prediction information to obtain second sensing information.

[0081] In a possible implementation, the interface module is further configured to send the second sensing information.

[0082] In a possible implementation, the sensing operation includes at least one of the following: a positioning operation, a motion direction recognition, an orientation recognition, or a pose recognition.

[0083] In a possible implementation, the sensing operation includes a pose recognition, and the interface module is further configured to receive pose type information, where the pose type information is used to indicate the positions of the M scattering points corresponding to different pose types.

[0084] In a possible implementation, the interface module is further configured to receive sensing method indication information, where the sensing method indication information indicates the sensing method used to perform the sensing operation on the target.

[0085] In a possible implementation, the sensing method includes sensing information of the center point of the target, or sensing information of a specified position on the target.

[0086] In a possible implementation, the interface module is further configured to receive resource indication information, where the resource indication information indicates at least one of a time domain resource, a frequency domain resource, or a spatial domain resource used to sense the target in the second time period.

[0087] In a possible implementation, the interface module is further configured to receive first position information, where the first position information indicates the positions of each of the M scattering points in a first time period, and the second time period is later than the first time period.

[0088] In a fifth aspect, a communication device is provided, including: a processor; the processor is configured to be coupled with a memory, and after reading instructions in the memory, execute the method according to any of the above aspects. The communication device may be the sensing management device in the first aspect above; or, the communication device may be the first sensing device in the second aspect above.

[0089] Combined with the above fifth aspect, in a possible implementation, the communication device further includes a memory, where the memory is used to store program instructions and data. Optionally, the memory is integrated with the above processor; or, the memory is independent of the processor.

[0090] Combined with the above fifth aspect, in a possible implementation, the processor and / or the memory further includes an artificial intelligence (AI) module for implementing AI-related functions. The AI module can implement AI functions in a software, hardware, or software-hardware combination manner. For example, the AI module includes a radio access network (RAN) intelligent controller (RIC) module.

[0091] Combined with the above fifth aspect, in a possible implementation, the communication device is a chip or a chip system. Optionally, when the communication device is a chip system, it can be composed of chips or can include chips and other discrete devices.

[0092] In a sixth aspect, a communication device is provided, including: a processor and an interface circuit; the interface circuit is configured to receive a computer program or instruction and transmit it to the processor; the processor is configured to execute the computer program or instruction so that the communication device executes the method described in any of the above aspects. The communication device can be the perception management device in the above first aspect; or, the communication device can be the first perception device in the above second aspect.

[0093] Combined with the above sixth aspect, in a possible implementation, the processor further includes an AI module for implementing AI-related functions. The AI module can implement AI functions in a software, hardware, or software-hardware combination manner. For example, the AI module includes an RIC module.

[0094] Combined with the above sixth aspect, in a possible implementation, the communication device is a chip or a chip system. Optionally, when the communication device is a chip system, it can be composed of chips or can include chips and other discrete devices.

[0095] In a seventh aspect, a computer-readable storage medium is provided, in which instructions are stored. When it runs on a computer, it enables the computer to execute the method described in any of the above aspects.

[0096] In an eighth aspect, a computer program product containing instructions is provided. When it runs on a computer, it enables the computer to execute the method described in any of the above aspects.

[0097] In a ninth aspect, a communication system is provided, which includes the communication device in the above third aspect and the communication device in the above fourth aspect.

[0098] Among them, the technical effects brought by any possible implementation manner from the third aspect to the ninth aspect can be referred to the technical effects brought by any one aspect or different possible implementation manners in any one of the above-mentioned first aspect to the second aspect, which will not be elaborated here.

[0099] It can be understood that on the premise that the solutions do not conflict, the solutions in the above-mentioned various aspects can be combined. BRIEF DESCRIPTION OF THE DRAWINGS

[0100] Figure 1A Schematic diagram of scattering points provided by this application;

[0101] Figure 1B Schematic diagram I of the sensing mode provided by this application;

[0102] Figure 1C Schematic diagram of the sensing mode provided by this application Figure 2 ;

[0103] Figure 1D Schematic diagram of the sensing mode provided by this application Figure 3 ;

[0104] Figure 1E Schematic diagram of the sensing mode provided by this application Figure 4 ;

[0105] Figure 1F Schematic diagram of the sensing mode provided by this application Figure 5 ;

[0106] Figure 1G Schematic diagram of the sensing mode provided by this application Figure 6 ;

[0107] Figure 2 Schematic diagram of the communication system architecture provided by this application;

[0108] Figure 3 Schematic diagram of the hardware structure of the communication device provided by this application;

[0109] Figure 4 Schematic diagram I of the process of the target detection method provided by this application;

[0110] Figure 5 Schematic diagram of the process of the target detection method provided by this application Figure 2 ;

[0111] Figure 6 Schematic diagram of the structure of the communication device provided by this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0112] Before introducing the technical solution of this application, the relevant technical terms involved in this application are explained. It can be understood that these explanations are for the purpose of making this application easier to understand, rather than being regarded as a limitation on the scope of protection required by this application.

[0113] 1. Sensing

[0114] In this application, sensing refers to obtaining certain information about a target, such as information related to one or more characteristics of the target's position, speed, traveling direction, shape, or posture, etc. Sensing is usually carried out together with communication. For example, a sensing device can send a signal, receive the reflected signal (or echo signal) that reaches the target and is reflected by the target, and obtain the above information based on the sent signal and the received signal.

[0115] 2. Sensing device

[0116] In this application, a sensing device can be used to sense a target. The sensing device can be any device with sensing ability and communication ability. Exemplarily, the sensing device is a network device or a terminal, etc.

[0117] The network device in this application can also be referred to as a radio access network (RAN) device or a RAN node, etc. The network device includes but is not limited to: the evolved NodeB (NodeB or eNB or e-NodeB, evolutional Node B) in Long Term Evolution (LTE), the evolved NodeB (next-generation eNB, ng-eNB) in the next-generation LTE, the base station (gNodeB or gNB) in New Radio (NR), the transmitting point (TP) or the transmission receiving point (TRP), the base station evolved by 3GPP subsequently, the next-generation base station (next generation NodeB, gNB), the next-generation base station in the 6th generation (6G) mobile communication system, the base station in the future mobile communication system, the access node in the Wireless Fidelity (WiFi) system, the wireless relay node, the wireless backhaul node, the integrated access and backhaul (IAB) node, etc. Among them, the base station can be: a macro base station, a micro base station, a pico base station, a small station, a relay station, or a balloon station, etc. Multiple base stations can support the network of the same technology mentioned above, or can also support the networks of different technologies mentioned above. The base station can include one or more co-site or non-co-site TRPs. The network device can also be a device that serves as a base station function in device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, drone communication, or machine communication. The network device can also be a wireless controller in the cloud radio access network (CRAN) scenario. The RAN node can also be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), a radio unit (RU), a roadside unit (RSU) with base station function, a wired access gateway, or a core network element, etc. The network device can also be a server, a wearable device, a machine communication device, or a vehicle-mounted device, etc. For example, the network device in vehicle-to-everything (V2X) technology can be a roadside unit (RSU).

[0118] In this application, the CU and the DU can be separately provided, or can also be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as included in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). It can be understood that the CU can be classified as a network device in the access network, or the CU can be classified as a network device in the core network, which is not limited herein.

[0119] It can be understood that in different systems, the CU (or CU-CP and CU-UP), the DU, or the RU can also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (ORAN) system, the CU can also be called an O-CU (open CU), the DU can also be called an O-DU, the CU-CP can also be called an O-CU-CP, the CU-UP can also be called an O-CU-UP, and the RU can also be called an O-RU. In addition, any one of the CU (or CU-CP, CU-UP), the DU, and the RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0120] The terminals in this application can be deployed on land, including indoors, outdoors, handheld or vehicle-mounted; they can also be deployed on water (such as ships, etc.); they can also be deployed in the air (such as airplanes, balloons, satellites, etc.). The terminal can also be referred to as a terminal device, and the terminal device can be a user equipment (UE), a mobile station (MS), a mobile terminal (MT), etc., or a device for providing voice or data connectivity to users. Among them, the UE includes handheld devices with wireless communication functions, vehicle-mounted devices (for example, devices installed in cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed rails, etc.), wearable devices (such as smart watches, smart bracelets, pedometers, etc.) or computing devices. Exemplarily, the UE can be a mobile phone, a mobile internet device (MID), or a computer with wireless transceiver functions. The UE can also be a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless modem, a smart point of sale (POS) machine, a customer-premises equipment (CPE), a smart robot, a robotic arm, a workshop device, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a vehicle-mounted terminal, a road side unit (RSU) with terminal functions, or a flying device (such as a smart robot, a hot air balloon, a drone, an airplane), etc. The terminal can also be other devices with terminal functions. For example, the terminal can also be a device that serves as a terminal function in D2D communication.

[0121] The terminal of this application can be an in-vehicle module, an in-vehicle module group, an in-vehicle component, an in-vehicle chip or an in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the method of this application through the built-in in-vehicle module, in-vehicle module group, in-vehicle component, in-vehicle chip or in-vehicle unit. Therefore, this application can be applied to the Internet of Vehicles, such as vehicle to everything (V2X), long term evolution vehicle (LTE-V), vehicle to vehicle (V2V), etc.

[0122] It can be understood that in some scenarios, the roles of network devices and terminals are relative. For example, a helicopter or a drone that is usually configured as a terminal can also be configured as a mobile base station, and the device that accesses the network device through the helicopter or the drone is configured as a terminal.

[0123] In this application, the sensing device can be set as needed. For example, in some scenarios, in order to enable the sensing device to have a sufficient direct view diameter, the sensing device can be set on objects beside the road such as street lights or roadside trees.

[0124] 3. Target

[0125] In this application, the target is an object that can be sensed by the sensing device. The target can have mobility (for example, the target is a car or an animal, etc.), or it can have no mobility (for example, the target is an RSU, etc.). The target can have communication capabilities (for example, the target is a terminal), or it can have no communication capabilities (for example, the target is a passive object such as a car or a bicycle, etc.). Exemplarily, the target includes but is not limited to: animals, various engineering vehicles, various carriers, or various terminals introduced above. Among them, the engineering vehicle is, for example, an excavator, a crane, or an earthmover, etc. The carrier can be used to transport goods, etc., for example, a vehicle, a train, a high-speed train, an airplane, or a drone, etc.

[0126] 4. Scattering point

[0127] In this application, the scattering point refers to the contact point between the signal sent by the sensing device and the target. For example, in Figure 1A , when the signal A sent by the sensing device A reaches the target, reflection, scattering, or diffraction occurs on the target surface, forming an echo signal of the signal A. The point where reflection, scattering, or diffraction occurs on the target surface can be considered as a scattering point. It should be understood that the scattering point can also have other naming methods, such as reflection point or diffraction point, etc. This application describes it by taking the scattering point as an example.

[0128] It can be understood that one target can correspond to at least one scattering point. When one target corresponds to multiple scattering points, these multiple scattering points can be the contact points of different signals sent by the same sensing device with the target, or the contact points of signals sent by different sensing devices with the target, without limitation.

[0129] 5. Sensing mode

[0130] In this application, the sensing mode refers to the mode in which the sensing device senses the target, including single - station sensing mode, dual - station sensing mode, or multi - station sensing mode. Among them, the single - station sensing mode, dual - station sensing mode, and multi - station sensing mode are distinguished according to the number of sensing devices and whether the devices for transmitting and receiving signals are the same. The following is a specific elaboration.

[0131] Single-station sensing mode refers to a mode in which a target is sensed by a sensing device. In single-station sensing mode, the device that transmits and receives signals is the same. Figure 1B In the example, the sensing device is a network device that can send a signal and receive an echo signal of the signal, and sense the target based on the sent signal and the received echo signal. Figure 1C In the present invention, the sensing device is a terminal, which can send a signal and receive an echo signal of the signal, and sense the target according to the sent signal and the received echo signal.

[0132] The dual-station sensing mode refers to a mode in which a target is sensed by two sensing devices. In the dual-station sensing mode, the devices for transmitting and receiving signals are different. Figure 1D In the example, the sensing device that sends the signal and the sensing device that receives the signal are both network devices, but the two network devices are different. Specifically, network device 1 can send a signal, and network device 2 can receive the echo signal of the signal and sense the target based on the echo signal. Figure 1E In the example, both the sensing device that sends the signal and the sensing device that receives the signal are terminals, but the two terminals are different. Specifically, terminal 1 can send a signal, and terminal 2 can receive the echo signal of the signal and sense the target based on the echo signal. Figure 1F In the example, the sensing device that sends the signal is the network device, and the sensing device that receives the signal is the terminal. Specifically, the network device can send a signal, and the terminal can receive the echo signal of the signal and sense the target based on the echo signal. Figure 1G In the present invention, the sensing device that sends the signal is the terminal, and the sensing device that receives the signal is the network device. Specifically, the terminal can send a signal, and the network device can receive the echo signal of the signal and sense the target according to the echo signal.

[0133] The multi-station sensing mode refers to a mode of sensing a target through three or more sensing devices. Some of these sensing devices are used to send signals, and the other sensing devices are used to receive echo signals of the signals and sense the target based on the echo signals. Taking three sensing devices as an example, one of the sensing devices sends a signal, and the other two sensing devices are used to receive echo signals of the signal and sense the target based on the echo signals; or, two of the sensing devices send signals, and the other sensing device is used to receive echo signals of the signals sent by the two sensing devices, and sense the target based on the echo signals.

[0134] This application mainly describes the target perception in the single - station perception mode and the dual - station perception mode as examples. The logic of target perception in the multi - station perception mode is similar to that in the dual - station perception mode, except for the number of perception devices that send signals and / or the number of perception devices that receive signals. Therefore, the introduction of target perception in the multi - station perception mode can refer to the description of target perception in the dual - station perception mode in this application and will not be elaborated here.

[0135] As described above, the perception device can perceive the target. Therefore, the target can be detected based on the perception of the perception device. However, in fact, what the perception device perceives are the scattering points on the target. The volume of the target is much larger than that of the scattering points. Regarding a single scattering point as the target will result in low accuracy of the detected target. Taking the intelligent transportation scenario as an example, if the scattering point perceived by the perception device is located at the front of the vehicle, according to the current technology, it will be considered that this scattering point is the geometric center point of the vehicle, which will lead to low accuracy when positioning the vehicle based on this scattering point subsequently.

[0136] To solve the above problems, this application provides a target detection method. In this method, the perception management device can obtain N first perception information corresponding to K scattering points and send target indication information to the perception device according to the N first perception information. Wherein, any one of the first perception information is the information of the scattering point obtained by perceiving the corresponding scattering point within the first time period. K is an integer greater than 1, and N is an integer greater than or equal to K. The target indication information can indicate that M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points.

[0137] In the above process, the perception management device can indicate which of the K scattering points corresponding to the N first perception information belong to the same target according to the N first perception information. In this way, the perception device can perform perception with the target as the granularity to improve the perception accuracy.

[0138] In some embodiments, the perception management device can also send position prediction information to the perception device to indicate the position of each of the predicted M scattering points in the second time period, and the second time period is later than the first time period. In this way, the perception device can perceive the target in the second time period according to the indication of the perception management device. Since the perception device obtains in advance the possible position where the target may appear, it can further process the signal in the direction of this position, such as increasing the transceiver power of the signal through beamforming, so as to further improve the accuracy of detection and positioning.

[0139] The following will describe in detail the implementation manner of the method provided by this application with reference to the accompanying drawings.

[0140] It can be understood that the method provided in this application can be used in various communication systems. For example, the communication system can be an LTE system, a fifth-generation (5G) communication system, a wireless fidelity (WiFi) system, a communication system related to the 3rd generation partnership project (3GPP), a future evolved communication system (such as: a sixth-generation (6G) communication system, etc.), or a system integrating multiple systems, etc., without limitation. Among them, 5G can also be referred to as new radio (NR). The following takes Figure 2 the communication system 20 shown as an example to describe the method provided in this application. Figure 2 It is only a schematic diagram and does not constitute a limitation on the applicable scenarios of the technical solution provided in this application.

[0141] As Figure 2 shown, it is a schematic diagram of the architecture of the communication system 20 provided in this application. Figure 2 In it, the communication system 20 includes at least one sensing management device 201 ( Figure 2 only one is shown), a sensing device 202 communicatively connected to the sensing management device 201, and a target 203 located within the sensing area of the sensing device 202. Optionally, the communication system 20 further includes a sensing device 204 communicatively connected to the sensing management device 201. Optionally, the target 203 is also located within the sensing area of the sensing device 204. Optionally, the sensing device 202 and the sensing device 204 are communicatively connected.

[0142] The sensing management device in this application, such as the sensing management device 201, is a device with communication capabilities and computing capabilities. For example, it is a server, a sensing server, a cloud server, a core network element, an access network element (such as the network device described above), a cloud, or a computing device with communication capabilities, etc., without limitation. The core network element in this application can be an existing core network element, such as an access and mobility management function (AMF) network element or a session management function (SMF) network element, etc., or a newly added core network element. The introduction of the sensing device 202, the sensing device 204, and the target 203 can refer to the description of the sensing device and the target above and will not be repeated.

[0143] Optionally, the communication system 20 further includes a positioning device 205, configured to determine the positions of the sensing devices 202 and / or 204, and indicate the positions to the sensing management device 201. Exemplarily, the positioning device 205 is a device with communication capabilities and computing capabilities, such as a server, a cloud server, a core network element, an access network element, a cloud, or a computing device with communication capabilities, without limitation.

[0144] In Figure 2 , the sensing management device, the positioning device, and the sensing devices are different physical devices. However, in specific applications, at least two of the logical functions of the sensing management device, the logical function of the positioning device, and the logical functions of the sensing devices may be integrated on the same physical device. For example, the logical function of the sensing management device 201 is integrated on the sensing device 202 or the sensing device 204. In this case, the sensing device 202 or the sensing device 204 has the logical function of the sensing management device 201 and can perform the operations of the sensing management device 201, such as sending target indication information according to N pieces of first sensing information. Similarly, the logical function of the positioning device 205 may be integrated on the sensing device 202 or the sensing device 204, or both the logical function of the sensing management device 201 and the logical function of the positioning device 205 may be integrated on the sensing device 202 or the sensing device 204.

[0145] It can be understood that Figure 2 the communication system 20 shown is only for illustration and is not intended to limit the technical solutions of the present application. Those skilled in the art should understand that in the specific implementation process, the communication system 20 may further include other devices, and at the same time, the number of the sensing management device, the sensing device, the target, or the positioning device may also be determined according to specific needs, without limitation. For example, the communication system 20 may further include sensing devices other than the sensing devices 202 and 204.

[0146] Optionally, each device (such as the sensing management device, the sensing device, or the positioning device, etc.) in the present application Figure 2 may also be referred to as a communication device, which may be a general device or a dedicated device, and the present application does not make specific limitations thereon.

[0147] Optionally, the relevant functions of each device (such as the sensing management device, the sensing device, or the positioning device, etc.) in the present application Figure 2 may be implemented by one device, may also be implemented by multiple devices together, or may be implemented by one or more functional modules in one device. The present application does not make specific limitations thereon. It can be understood that the above functions may be either network elements in hardware devices, or software functions running on dedicated hardware, or a combination of hardware and software, or virtualized functions instantiated on a platform (such as a cloud platform).

[0148] In specific implementation, the present application Figure 2 each device in (such as a sensing management device, a sensing device or a positioning device, etc.) can adopt Figure 3 the shown composition structure, or includes Figure 3 the shown components. Figure 3 The figure shows a schematic diagram of the hardware structure of a communication device applicable to the present application. The communication device 30 includes at least one processor 301 and at least one communication interface 304, and is used to implement the method provided by the present application. The communication device 30 may further include a communication line 302 and a memory 303.

[0149] The processor 301 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application solution.

[0150] The communication line 302 may include a path for transmitting information between the above components, such as a bus.

[0151] The communication interface 304 is used to communicate with other devices or communication networks. The communication interface 304 may be any device such as a transceiver, such as an Ethernet interface, a radio access network (RAN) interface, a wireless local area networks (WLAN) interface, a transceiver, a pin, a bus, an interface circuit or a transceiver circuit, etc.

[0152] The memory 303 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory can exist independently and be coupled to the processor 301 through the communication line 302. The memory 303 can also be integrated with the processor 301. The memory provided in this application generally has non-volatility.

[0153] Among them, the memory 303 is used to store the computer execution instructions involved in implementing the solution provided in this application, and is controlled by the processor 301 for execution. The processor 301 is used to execute the computer execution instructions stored in the memory 303, thereby implementing the method provided in this application. Or, optionally, in this application, it can also be that the processor 301 executes the functions related to the processing in the method provided below in this application, and the communication interface 304 is responsible for communicating with other devices or communication networks. This application does not make specific limitations on this.

[0154] Optionally, the computer execution instructions in this application can also be referred to as application code. This application does not make specific limitations on this.

[0155] The coupling in this application is an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, and is used for information interaction between devices, units, or modules.

[0156] As an example, the processor 301 can include one or more CPUs, such as Figure 3 CPU0 and CPU1 in

[0157] As an example, the communication device 30 can include multiple processors, such as Figure 3The processors 301 and 307 therein. Each of these processors can be a single-CPU processor or a multi-CPU processor. The processors here can refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0158] As an embodiment, the communication device 30 may further include an output device 305 and / or an input device 306. The output device 305 is coupled to the processor 301 and can display information in various ways. For example, the output device 305 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. The input device 306 is coupled to the processor 301 and can receive user input in various ways. For example, the input device 306 can be a mouse, a keyboard, a touch screen device, or a sensing device, etc.

[0159] It can be understood that Figure 3 the component structure shown in Figure 3 does not constitute a limitation on the communication device. Except for the components shown, the communication device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0160] Next, the method provided in the present application will be described in conjunction with the accompanying drawings. Each network element in the following embodiments may have Figure 3 the components shown, which will not be elaborated.

[0161] It can be understood that the message names between the various devices in the following embodiments of the present application or the names of the parameters in the messages are only examples. In specific implementations, other names may also be used, and the present application does not make specific limitations in this regard.

[0162] It can be understood that "sending information to... (such as a sensing device)" in the present application can be understood as the destination of the information being the sensing device. It may include directly or indirectly sending information to the sensing device. "Receiving information from... (such as a sensing device)" can be understood as the source of the information being the sensing device, and it may include directly or indirectly receiving information from the sensing device. Necessary processing may be performed on the information between the source and the destination of the information sending, such as format change, etc., but the destination can understand the valid information from the source. Similar expressions in the present application can be understood similarly and will not be elaborated here.

[0163] It can be understood that in this application, " / " can indicate that the objects associated before and after are in an "or" relationship. For example, A / B can represent A or B; "and / or" can be used to describe three relationships of associated objects. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, expressions similar to "at least one of A, B, and C" or "at least one of A, B, or C" are usually used to represent any one of the following: A exists alone; B exists alone; C exists alone; A and B exist simultaneously; A and C exist simultaneously; B and C exist simultaneously; A, B, and C exist simultaneously. The above takes three elements A, B, and C as an example to illustrate the selectable items of this item. When there are more elements in the expression, the meaning of this expression can be obtained according to the foregoing rules.

[0164] To facilitate the description of the technical solutions of this application, in this application, words such as "first" and "second" can be used to distinguish technical features with the same or similar functions. These words such as "first" and "second" do not limit the quantity and execution order, and these words such as "first" and "second" do not necessarily limit that they are different. In this application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" should not be construed as being more preferred or having more advantages than other embodiments or design solutions. The use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific way for easy understanding.

[0165] It can be understood that the "embodiments" mentioned throughout the specification mean that specific features, structures or characteristics related to the embodiments are included in at least one embodiment of this application. Therefore, throughout the specification, the various embodiments do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It can be understood that in various embodiments of this application, the magnitude of the serial numbers of the various processes does not mean the sequence of execution. The execution sequence of the various processes should be determined by their functions and internal logics, and should not constitute any limitation to the implementation process of this application.

[0166] It can be understood that in this application, "for indicating" may include direct indication and indirect indication, and may also include explicit indication and implicit indication. When it is described that a certain indication information is used to indicate A, it may include that the indication information directly indicates A or indirectly indicates A, rather than meaning that A must be carried in the indication information. Taking the information indicated by a certain information (such as the sensing operation indication information or sensing mode indication information described below) as the information to be indicated, in the specific implementation process, there are many ways to indicate the information to be indicated. For example, but not limited to, it can directly indicate the information to be indicated, such as the information to be indicated itself or the index of the information to be indicated, etc. It can also indirectly indicate the information to be indicated by indicating other information, where there is an association relationship between the other information and the information to be indicated. It can also only indicate a part of the information to be indicated, while the other parts of the information to be indicated are known or pre-agreed. For example, it can also rely on the arrangement order of each information pre-agreed (such as protocol regulations) to achieve the indication of specific information, thereby reducing the indication overhead to a certain extent.

[0167] It can be understood that in this application, "when...", "in the case of...", "if" and "if" all refer to corresponding processing being performed under a certain objective situation, not limited to time, and do not require a judgment action to be necessarily made during implementation, nor does it mean that there are other limitations.

[0168] In this application, "greater than or equal to" can be replaced by "greater than", or replaced by "equal to"; "less than or equal to" can be replaced by "less than", or replaced by "equal to". For example, A greater than or equal to B can be replaced by A greater than B, or replaced by A equal to B; A less than or equal to B can be replaced by A less than B, or replaced by A equal to B.

[0169] It can be understood that some optional features in this application, in some scenarios, can be implemented independently without relying on other features, such as the current scheme it is based on, to solve the corresponding technical problems and achieve the corresponding effects. In some scenarios, they can also be combined with other features according to requirements. Correspondingly, the devices given in this application can also implement these features or functions accordingly, which will not be elaborated here.

[0170] It can be understood that in this application, the same step or steps or technical features with the same function can be mutually referred to and learned from between different embodiments.

[0171] It can be understood that the processing of the user's personal information involved in this application, such as collection, storage, use, processing, transmission, provision, and disclosure, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good customs. For example, in this application, the processing of the user's personal information is carried out under the authorization of the user. This is uniformly explained here and will not be repeated below.

[0172] It is understandable that in the present application, the perception management device and / or the perception device may execute some or all of the steps in the present application. These steps are only examples, and the present application may also execute other steps or various deformations of the steps. In addition, each step may be executed in a different order presented in the present application, and it is possible that not all steps in the present application need to be executed.

[0173] It is understandable that in the method provided below in the present application, the perception management device and the perception device (such as the first perception device or the second perception device, etc.) are taken as an example of the execution subject of this interaction schematic to illustrate the method, but the present application does not limit the execution subject of this interaction schematic. For example, the perception management device in the method provided in the following embodiments of the present application may also be a chip, a chip system, or a processor that supports the perception management device to implement this method, and may also be a logical node, a logical module, or software that can implement all or part of the functions of the perception management device; the perception device in the method provided below in the present application may also be a chip, a chip system, or a processor that supports the perception device to implement this method, and may also be a logical node, a logical module, or software that can implement all or part of the functions of the perception device.

[0174] As Figure 4 shown, a target detection method provided by the present application may include the following steps:

[0175] S401: The perception management device acquires N pieces of first perception information.

[0176] In the present application, the perception management device may be Figure 2 the perception management device 201 in the communication system shown. The N pieces of first perception information correspond to K scattering points. K is an integer greater than 1, and N is an integer greater than or equal to K. It is understandable that N being equal to K means that each piece of first perception information may respectively correspond to a scattering point. N being greater than K means that at least two of the N pieces of first perception information correspond to the same scattering point.

[0177] In a possible implementation, the second sensing device sends N first sensing messages to the sensing management device. Correspondingly, the sensing management device receives the N first sensing messages from the second sensing device. If the second sensing device is a network device, the second sensing device can communicate with the sensing management device using the Xn interface. If the second sensing device is a terminal, the second sensing device can communicate with the sensing management device through the network device it is connected to. For example, the second sensing device sends the N first sensing messages to the network device it is connected to through uplink control information (UCI), medium access control - control element (MAC-CE), or radio resource control (RRC) messages. After receiving the N first sensing messages, the network device sends the N first sensing messages to the sensing management device through the Xn interface.

[0178] In this application, any one of the first sensing messages is information about the scattering points obtained by sensing the scattering points corresponding to the first sensing message within the first time period. For example, the second sensing device can sense the scattering points within the first time period to obtain the information about the scattering points and send the information about the scattering points to the sensing management device. Here, the first time period can include a period of time, such as 5 milliseconds (ms). Alternatively, the second sensing device can also sense the scattering points at a certain moment within the first time period to obtain the information about the scattering points.

[0179] In this application, the information about the scattering points can indicate the position of the scattering points and the first time period. The second sensing device can indicate the position of the scattering points and the first time period to the sensing management device in various ways.

[0180] First, the following methods (1) to (3) are used as examples to introduce the method for the second sensing device to indicate the position of the scattering points. Method (1), the information about the scattering points includes the coordinates of the scattering points, and the sensing management device can determine the position of the scattering points based on the coordinates. The coordinates can be two-dimensional coordinates or three-dimensional coordinates. Method (2), the information about the scattering points includes the azimuth angle of the scattering points relative to the second sensing device and the distance between the scattering points and the second sensing device. The sensing management device can determine the position of the scattering points based on the above information and the position of the second sensing device stored locally. If the position of the second sensing device is not stored locally in the sensing management device, the information about the scattering points can also include the position of the second sensing device, or the sensing management device can obtain it from a positioning device (such as Figure 2The positioning device shown (205) obtains the position of the second sensing device. In manner (3), the information of the scattering point includes the azimuth angle of the scattering point relative to the sensing management device and the distance between the scattering point and the sensing management device. The sensing management device can determine the position of the scattering point based on the above information and its own position. Before S401, the sensing management device can indicate its own position to the second sensing device so that the second sensing device can determine the azimuth angle of the scattering point relative to the sensing management device and the distance between the scattering point and the sensing management device.

[0181] The following takes the following manners (4) to (6) as examples to introduce the manner in which the second sensing device indicates the first time period. In manner (4), the information of the scattering point may include the start time of the first time period and the duration of the first time period. The sensing management device can determine the first time period based on the above start time and duration. The above start time or duration may also be pre-set or defined in the protocol. In this way, the information of the scattering point may not include this information. In manner (5), the information of the scattering point may include the offset between the above start time and the reference time and the duration of the first time period. The sensing management device can determine the start time based on the offset and the reference time, and then determine the first time period based on the start time and the duration of the first time period. The above reference time is the time defined in the protocol or the pre-set time. The above offset or duration may also be pre-set or defined in the protocol. In this way, the information of the scattering point may not include this information. In manner (6), the information of the scattering point may include the identifier of the time domain resource where the first time period is located. For example, the information of the scattering point includes the index of the time slot (slot) where the first time period is located, or includes the index of the symbol where the first time period is located, and the index of the time slot where the symbol is located. The sensing management device can determine the first time period based on the index of the time domain resource. Optionally, the information of the scattering point may further include the index of the subframe where the above time slot is located, etc., without limitation.

[0182] Optionally, the information of the scattering point further indicates the Doppler frequency shift of the scattering point. For example, the information of the scattering point includes the Doppler frequency shift of the scattering point. The sensing management device can determine the movement speed and / or movement direction of the scattering point in the first time period based on the Doppler frequency shift of the scattering point.

[0183] It can be understood that the present application does not limit the number of second sensing devices. In other words, the sensing management device can obtain N first sensing information from one or more second sensing devices. Taking Figure 2 the communication system 20 shown as an example, the sensing management device 201 can obtain N first sensing information from the sensing device 202, or the sensing management device 201 can obtain R first sensing information from the sensing device 202 and Q first sensing information from the sensing device 204. R and Q are positive integers less than N, and the sum of R and Q is equal to N. The following combinesFigures 1B to 1G Describe it in detail.

[0184] Scenario 1: The perception management device 201 obtains N first perception information from the perception device 202.

[0185] In a possible implementation, the perception device 202 obtains N first perception information and sends the N first perception information to the perception management device 201.

[0186] Example 1, taking the Figure 1B shown perception mode as an example, the perception device 202 is the Figure 1B network device in. The perception device 202 can send N signals respectively, receive the echo signals of each signal, determine the information of N scattering points according to these signals and echo signals, that is, N first perception information, and send the N first perception information to the perception management device 201. For any one of the N signals, the perception device 202 can determine the transmission delay of the signal according to the time of sending the signal and the time of receiving the echo signal of the signal (for example, the transmission delay is equal to the time difference between the two), and then can determine the distance between the scattering point corresponding to the signal (that is, the contact point between the signal and the target) and the perception device 202 (for example, the distance is equal to the transmission delay multiplied by the speed of light and divided by 2). Combining with the direction of the signal, the position of the scattering point can be determined. The perception device 202 can also determine the moment when the signal reaches the target, and determine the first time period according to this moment. It can be understood that the first time period includes the moment when the signal reaches the target. The perception device 202 can also determine the Doppler frequency shift of the scattering point corresponding to the signal according to the signal and the echo signal of the signal. In addition, if the target is moving, the signals with the same direction sent by the perception device 202 at different times can also perceive different scattering points, so the directions of the above N signals can be the same or different.

[0187] Example 2, taking the Figure 1C shown perception mode as an example, the perception device 202 is the Figure 1C terminal in. The perception device 202 can send N signals respectively, receive the echo signals of each signal, determine the information of N scattering points according to these signals and echo signals, that is, N first perception information, and send the N first perception information to the perception management device 201. The process of the perception device 202 obtaining N first perception information can refer to the description in Example 1.

[0188] Example 3, taking the Figure 1D shown perception mode as an example, the perception device 202 is the Figure 1DIn the network device 2, the network device 1 can respectively send N signals. The sensing device 202 can receive the echo signals of each signal, determine the information of N scattering points according to these echo signals, that is, N first sensing information, and send the N first sensing information to the sensing management device 201. For any one of the N signals, the signal includes the transmission time of the signal. After the sensing device 202 receives the echo signal of the signal, it can determine the transmission delay of the signal according to the transmission time and the time when the echo signal is received, and then can determine the distance between the scattering point corresponding to the signal (i.e., the contact point between the signal and the target) and the sensing device 202. Combining with the direction of the signal, the position of the scattering point can be determined. The sensing device 202 can also determine the moment when the signal reaches the target and determine the first time period according to this moment. The sensing device 202 can also determine the Doppler frequency shift of the scattering point corresponding to the signal according to the echo signal of the signal. In Example 3, the number of network devices 1 can be not limited. That is to say, the N signals can be sent by the same network device or by W different network devices. W is a positive integer less than or equal to N. In addition, some of the W network devices can be replaced by terminals.

[0189] Example 4, taking Figure 1E the sensing mode shown as an example, the sensing device 202 is Figure 1E the terminal 2 in. The terminal 1 can respectively send N signals. The sensing device 202 can receive the echo signals of each signal, determine the information of N scattering points according to these echo signals, that is, N first sensing information, and send the N first sensing information to the sensing management device 201. The process of the sensing device 202 obtaining the N first sensing information can refer to the description in Example 3. In Example 4, the number of terminals 1 can be not limited. That is to say, the N signals can be sent by the same terminal or by W different terminals.

[0190] Example 5, taking Figure 1F the sensing mode shown as an example, the sensing device 202 is Figure 1F the terminal in. The network device can respectively send N signals. The sensing device 202 can receive the echo signals of each signal, determine the information of N scattering points according to these echo signals, that is, N first sensing information, and send the N first sensing information to the sensing management device 201. The process of the sensing device 202 obtaining the N first sensing information can refer to the description in Example 3. In Example 5, the number of network devices can be not limited. That is to say, the N signals can be sent by the same network device or by W different network devices.

[0191] Example 6, taking Figure 1G the sensing mode shown as an example, the sensing device 202 is Figure 1GIn the network device, the terminal can send N signals respectively. The sensing device 202 can receive the echo signals of each signal, determine the information of N scattering points based on these echo signals, that is, N pieces of first sensing information, and send the N pieces of first sensing information to the sensing management device 201. The process by which the sensing device 202 obtains the N pieces of first sensing information can refer to the description in Example 3. In Example 6, the number of terminals may not be limited. That is to say, the N signals can be sent by the same terminal or by W different terminals.

[0192] Scenario 2: The sensing management device 201 obtains R pieces of first sensing information from the sensing device 202 and Q pieces of first sensing information from the sensing device 204.

[0193] In a possible implementation, the sensing device 202 obtains R pieces of first sensing information and sends the R pieces of first sensing information to the sensing management device 201. For example, the sensing device 202 can obtain the R pieces of first sensing information through any one of the above Examples 1 to 6 and send the R pieces of first sensing information to the sensing management device 201.

[0194] In a possible implementation, the sensing device 204 obtains Q pieces of first sensing information and sends the Q pieces of first sensing information to the sensing management device 201. For example, the sensing device 204 can obtain the Q pieces of first sensing information through any one of the above Examples 1 to 6 and send the Q pieces of first sensing information to the sensing management device 201.

[0195] In a possible design, the R pieces of first sensing information correspond to R scattering points, and the Q pieces of first sensing information correspond to Q scattering points. The R scattering points and the Q scattering points can be exactly the same, completely different, or partially the same.

[0196] Exemplarily, the R scattering points and the Q scattering points being exactly the same means that the sensing device 202 and the sensing device 204 sense the same scattering points on the same target. For example, both the sensing device 202 and the sensing device 204 sense the scattering points 1 to 3 on target 1.

[0197] Exemplarily, the R scattering points and the Q scattering points being completely different means that the sensing device 202 and the sensing device 204 sense different scattering points on the same target. For example, the sensing device 202 senses the scattering points 1 to 3 on target 1, and the sensing device 204 senses the scattering points 4 to 5 on target 1. And / or, the R scattering points and the Q scattering points being completely different means that the sensing device 202 and the sensing device 204 sense different scattering points on different targets. For example, the sensing device 202 senses the scattering points 1 to 3 on target 1, and the sensing device 204 senses the scattering points 1 to 2 on target 2.

[0198] Exemplarily, part of the R scattering points and the Q scattering points are the same, indicating that the sensing device 202 and the sensing device 204 sense the same scattering points and different scattering points on the same target. For example, the sensing device 202 senses scattering points 1 to 3 on target 1, and the sensing device 204 senses scattering points 2 to 5 on target 1. Or, part of the R scattering points and the Q scattering points are the same, indicating that the sensing device 202 and the sensing device 204 sense the same scattering points on the same target and different scattering points on different targets. For example, the sensing device 202 senses scattering points 1 to 3 on target 1, the sensing device 204 senses scattering points 2 to 3 on target 1, and the sensing device 204 also senses scattering points 1 to 2 on target 2.

[0199] It can be understood that the number of the second sensing devices can also be greater than 2. In this case, each second sensing device can obtain a part of the N first sensing information (such as obtaining these first sensing information in any one of the above examples 1 to 6), and send the obtained first sensing information to the sensing management device, which will not be elaborated here.

[0200] S402: The sensing management device sends target indication information and position prediction information to the first sensing device according to the N first sensing information. Correspondingly, the first sensing device receives the target indication information and the position prediction information from the sensing management device.

[0201] In a possible implementation, the sensing management device determines the target indication information and the position prediction information according to the N first sensing information.

[0202] In this application, the target indication information can indicate that M scattering points belong to the same target, and the M scattering points are all or part of the K scattering points. The position prediction information can indicate the position of each of the predicted M scattering points in the second time period, and the second time period is later than the first time period. The position prediction information can be used to sense the target within the second time period. That is to say, the sensing management device can determine which of the K scattering points belong to the same target and indicate them to the first sensing device, so that the first sensing device can sense with the target as the granularity, improving the sensing accuracy. The sensing management device can also predict the position of each of the M scattering points in the second time period and indicate it to the first sensing device, so that the first sensing device can obtain in advance the possible positions where the target may appear. In this way, the first sensing device can further process the signal in the direction of this position, such as increasing the transceiver power of the signal through beamforming, to further improve the accuracy of detection and positioning. Among them, the above target can be Figure 2 the target 203 in the communication system 20 shown. The second time period can include a period of time. The duration of the second time period is the same as or different from the duration of the first time period.

[0203] Exemplarily, the perception management device may determine that M of the K scattering points belong to the same target according to the positions of the K scattering points. For example, among the K scattering points, M scattering points are relatively close, such as the distance between any two of the M scattering points is less than or equal to the first threshold. And / or, the perception management device may determine the moving speed of the K scattering points in the first time period according to the Doppler frequency shift of the K scattering points, and determine that M of the scattering points belong to the same target according to the moving speed. For example, among the K scattering points, the moving speeds of M scattering points are basically the same, such as the difference in the moving speeds of any two of the M scattering points in the first time period is less than or equal to the second threshold. And / or, the perception management device may determine the moving direction of the K scattering points in the first time period according to the Doppler frequency shift of the K scattering points, and determine that M of the scattering points belong to the same target according to the moving direction. For example, among the K scattering points, the moving directions of M scattering points are basically the same, such as the difference in the angles of the moving directions of any two of the M scattering points in the first time period is less than or equal to the third threshold.

[0204] Exemplarily, the perception management device may predict the position of each scattering point in the second time period according to the positions and moving speeds of the M scattering points in the first time period. Or, the perception management device may predict the position of each scattering point in the second time period according to the positions, moving speeds and moving directions of the M scattering points in the first time period. It can be understood that if the perception management device has also obtained the positions of all or part of the M scattering points in the historical time, the perception management device may predict the positions of the corresponding scattering points in the second time period by combining these positions to improve the accuracy of position prediction. Wherein, the historical time is at least a period of time or at least a moment before the first time period.

[0205] In a possible implementation, after the perception management device determines that M scattering points belong to the same target, it may number the M scattering points to indicate the M scattering points to the first perception device. For example, the numbers of the M scattering points are A1 to A M . Optionally, the perception management device may also number the target. For example, the number of the target is target A.

[0206] Optionally, the perception management device may also identify the target. For example, the perception management device may identify the contour of the target according to the positions of the M scattering points in the first time period, so as to determine the type of the target, such as determining that the target is a car, an engineering vehicle or an animal, etc.

[0207] Next, the information specifically included in the target indication information and the position prediction information will be elaborated.

[0208] Exemplarily, the target indication information may include the identifiers of each of the M scattering points. For example, the target indication information includes A1, A2, …, A M , or includes {A1, A2, …, A M}, or includes [A1, A2, …, A M , to indicate that the M points belong to the same target. Optionally, the target indication information may further include the identifier of the target. For example, the content included in the target indication information may be as shown in Table 1. Another example is that the target indication information may include two fields, one field includes the identifier of the target, and the other field includes the identifier of each scattering point. Of course, the target indication information may also indicate that the M scattering points belong to the same target in other ways, without limitation.

[0209] Table 1

[0210] Target A <![CDATA[A1, A2, …, A M >

[0211] Exemplarily, the position prediction information includes the identifier of each scattering point and the coordinates of each scattering point, and the coordinates may be two-dimensional coordinates or three-dimensional coordinates. Or, the position prediction information includes the coordinates of each scattering point, the azimuth angle of each scattering point relative to the first sensing device, and the distance between each scattering point and the first sensing device. Or, the position prediction information includes the coordinates of each scattering point, the azimuth angle of each scattering point relative to the sensing management device, and the distance between each scattering point and the sensing management device. It can be understood that the above information may be presented in the form of a table or an array, etc., without limitation. Taking the position prediction information including the identifier of each scattering point and the coordinates of each scattering point as an example, the content included in the position prediction information may be as shown in Table 2, or the position prediction information includes [A1, X1, Y1, A2, X2, Y2, ……, A M , X M , Y M . Wherein, X1 represents the abscissa of the scattering point A1, Y1 represents the ordinate of the scattering point A1, X2 represents the abscissa of the scattering point A2, Y2 represents the ordinate of the scattering point A2, ……, X M represents the abscissa of the scattering point A M , and Y M represents the ordinate of the scattering point A M .

[0212] Table 2

[0213] Identification of scatter points Coordinates of scatter points <![CDATA[A1]]> <![CDATA[(X1,Y1)]]> <![CDATA[A2]]> <![CDATA[(X2,Y2)]]> … … <![CDATA[A M > <![CDATA[(X M ,Y M )]]>

[0214] Exemplarily, the target indication information and the position prediction information can be indicated by the signaling combination shown in Table 3. Among them, Target Index represents the identifier of the target, Target points represents the identifier of the scattering point, Coordinate 1 represents the position information of the first scattering point, Coordinate 2 represents the position information of the second scattering point, and Coordinate M represents the position information of the Mth scattering point.

[0215] Table 3

[0216]

[0217] Optionally, the position prediction information further indicates a second time period. The manner in which the position prediction information indicates the second time period is similar to the manner in which the information of the scattering points indicates the first time period in S401, and will not be elaborated here.

[0218] It can be understood that after the perception management device determines the target indication information and the position prediction information, it can send the target indication information and the position prediction information to the first perception device. The first perception device can be a perception device near the predicted position (such as the position of at least one of the above-mentioned M scattering points in the second time period). For example, the distance between the first perception device and the above-mentioned predicted position is less than or equal to the fourth threshold. In addition, the present application does not limit the number of the first perception devices. In other words, the perception management device can instruct one perception device to perceive M scattering points in the second time period, and the perception management device can also instruct two or more perception devices to perceive M scattering points in the second time period.

[0219] It can be understood that the first perception device and the second perception device are the same or different. That the first perception device and the second perception device are different means that the perception device that perceives K scattering points in the first time period does not need to perceive M scattering points in the second time period. That the first perception device and the second perception device are the same means that all or part of the perception devices that perceive K scattering points in the first time period also need to perceive all or part of the M scattering points in the second time period. For example, the first perception device obtains P first perception information and sends the P first perception information to the perception management device. Among them, the P first perception information respectively corresponds to P scattering points, and the P scattering points are all or part of the K scattering points. Subsequently, the perception management device sends the target indication information and the position prediction information to the first perception device to instruct the first perception device to perceive all or part of the M scattering points in the second time period.

[0220] Optionally, if the P scattering points are all or part of the M scattering points, the perception management device also sends first indication information to the first perception device. The first indication information is used to indicate that the first scattering point among the M scattering points is a scattering point among the P scattering points, or to indicate that the first scattering point among the M scattering points is the one perceived by the first perception device within the first time period. For example, the first indication information includes the identifier of the first scattering point, or the first indication information may include M bits, and the M bits respectively correspond to the M scattering points, and any one bit is used to indicate whether the corresponding scattering point is the one perceived by the first perception device within the first time period. Taking M equal to 3 as an example, if the M bits are "001", it means that the first two scattering points among the M scattering points are not the ones perceived by the first perception device within the first time period, and the last scattering point is the one perceived by the first perception device within the first time period. Through the above method, the first perception device can associate the first scattering point among the M scattering points with the previously perceived scattering points, so that it can combine the information of the previously perceived scattering points to detect the target in the second time period. Specifically, reference can be made to the description in S403 below. In addition, the present application does not limit the number of the first scattering points. For example, the number of the first scattering points may be one or more.

[0221] Optionally, if the first perception device is different from the second perception device, the perception management device may also send first position information to the first perception device. The first position information may indicate the position of each of the M scattering points within the first time period. In this way, after receiving the first position information, the first perception device can combine this information to detect the target. Specifically, reference can be made to the description in S403 below. Among them, the way the first position information indicates the position is similar to the way the position prediction information indicates the position, and will not be elaborated here.

[0222] It can be understood that if the first perception device is a network device, the first perception device can communicate with the perception management device using the Xn interface. If the first perception device is a terminal, the first perception device can communicate with the perception management device through the network device it accesses. For example, the perception management device sends the target indication information and the position prediction information to the network device accessed by the first perception device through the Xn interface. After receiving the above information, the network device sends the target indication information and the position prediction information to the first perception device through downlink control information (DCI), MAC-CE or RRC message.

[0223] It can be understood that if there are also at least two scatterers belonging to the same target among the scatterers other than the M scatterers among the K scatterers, the perception management device can indicate that these scatterers belong to the same target in a similar manner as described above, and indicate the position of each predicted scatterer in the third time period. The meaning of the third time period is similar to that of the second time period, and reference can be made to the above introduction of the second time period. It should be understood that the third time period and the second time period can be the same time period or different time periods.

[0224] Optionally, the perception management device also sends resource indication information to the first perception device. The resource indication information can indicate at least one of the time domain resources, frequency domain resources, or spatial domain resources used to perceive the target in the second time period. In this way, after receiving this information, the first perception device can perceive the target using the corresponding resources.

[0225] In this application, the time domain resources can include symbols, time slots, mini time slots, subframes, or frames, etc. The time domain resources include the time domain resources where the second time period is located. For example, the resource indication information includes the index of the symbol where the second time period is located. Optionally, the resource indication information also includes the index of the time slot where the symbol is located. The resource indication information can also include the index of the subframe where the time slot is located. The resource indication information can also include the index of the frame where the subframe is located. The frequency domain resources can include subcarriers, resource blocks (RB), carriers, frequency points, bandwidths, or bandwidth parts, etc. The spatial domain resources can include beams, antenna ports, or antenna weights, etc. The beam can be a narrow beam or a wide beam, without limitation.

[0226] S403: The first perception device perceives the target in the second time period according to the target indication information and the position prediction information.

[0227] It can be understood that the first perception device can be a device that sends signals or a device that receives echo signals. If the first perception device is a device that sends signals, the first perception device can send signals according to the position prediction information, such as increasing the transmission power of the signal through beamforming in the direction of the position indicated by the position prediction information, so that the third perception device can receive the echo signal of the signal and obtain the second perception information. The second perception information can indicate the information of the target perceived in the second time period. For example, the second perception information includes the position coordinates of each of the M scatterers in the second time period. The second perception information can also include the position coordinates of the target at the second moment, rather than the position coordinates of each scatterer in the second time period, to reduce signaling overhead. It can be understood that the third perception device can obtain the second perception information by using any one of the methods in the above Examples 1 to 6.

[0228] It is understandable that all the information sent by the perception management device to the first perception device can be sent to the third perception device. For example, the perception management device can also send target indication information and position prediction information to the third perception device, so that the third perception device can receive echo signals according to the position prediction information, such as increasing the received power of the signal through beamforming in the direction of the position indicated by the position prediction information to improve the accuracy of the obtained second perception information. In addition, the third perception device can also determine that the M scattering points belong to the same target according to the target indication information, and then locate the target to improve the positioning accuracy. In addition, the perception management device can also send the first indication information or the first position information to the third perception device.

[0229] It is understandable that if the signal sent by the first perception device can reach Z of the M scattering points, the third perception device can obtain the information of the Z scattering points. If Z is equal to M, the third perception device can determine the position of each of the M scattering points in the second time period, and then locate the target according to these positions, such as calculating the geometric mean of these positions and determining the position of the geometric center of the target as the geometric mean. If Z is less than M, the third perception device can determine the positions of some of the M scattering points in the second time period. Subsequently, the third perception device can estimate the positions of the remaining scattering points in the second time period by combining the first indication information or the first position information and the positions of the Z scattering points in the second time period, and then locate the target.

[0230] If the first perception device is a device for receiving echo signals, the first perception device can use any one of the methods in the above Examples 1 to 6 to obtain the second perception information. The difference is that in S403, the first perception device has obtained in advance the possible positions of each of the M scattering points in the second time period, so the first perception device can increase the received power of the signal through beamforming in the direction of this position to improve the accuracy of the obtained second perception information. In addition, the first perception device may not be able to perceive the positions of each of the M scattering points in the second time period, then the first perception device can locate the target by combining the first indication information or the first position information.

[0231] It is understandable that after the first perception device obtains the second perception information, it can send the second perception information to the perception management device. After receiving the second perception information, the perception management device can perform further processing, such as predicting the positions of the M scattering points in the fourth time period after the second time period and indicating them to the corresponding perception device, so that the perception device can detect the target in the fourth time period.

[0232] Based on Figure 4In the method shown, the perception management device can obtain N first perception information corresponding to K scattering points, and according to the N first perception information, indicate to the first perception device that M scattering points among the K scattering points belong to the same target, so that the first perception device can perform perception with the target as the granularity in the second time period to improve the perception accuracy. In addition, the perception management device also indicates to the first perception device the position of each of the predicted M scattering points in the second time period, so that the first perception device can perceive the target according to the indication of the perception management device in the second time period. Since the first perception device obtains in advance the position where the target may appear, it can further process the signal in the direction of this position, such as increasing the transceiver power of the signal through beamforming, to further improve the accuracy of detection and positioning.

[0233] Optionally, in Figure 4 In a possible implementation manner of the method shown, the perception management device can also indicate to the first perception device the perception operation to be performed on the target, so that the first perception device can perform the corresponding perception operation on the target in the second time period to obtain the second perception information. Specifically, it can be as Figure 5 shown, Figure 4 The method shown may further include the following steps:

[0234] S402a: The perception management device sends perception operation indication information to the first perception device. Correspondingly, the first perception device receives the perception operation indication information from the perception management device.

[0235] In this application, the perception operation indication information can indicate the perception operation to be performed on the target in the second time period. The perception operation may include at least one of the following: positioning operation, motion direction recognition, orientation recognition, or attitude recognition.

[0236] Exemplarily, the perception operation indication information may include the identifier of the corresponding perception operation. Taking the identifier of the positioning operation as "00", the identifier of the motion direction recognition as "01", the identifier of the orientation recognition as "10", and the identifier of the attitude recognition as "11" as an example, if the perception operation indication information includes "00", it means that the perception management device indicates to perform positioning on the target in the second time period; if the perception operation indication information includes "00" and "01", it means that the perception management device indicates to perform positioning on the target in the second time period and recognize the motion direction of the target; if the perception operation indication information includes "10", it means that the perception management device indicates to recognize the orientation of the target in the second time period; if the perception operation indication information includes "00" and "11", it means that the perception management device indicates to perform positioning on the target in the second time period and recognize the attitude of the target.

[0237] As described above, the perception management device can identify the target. The perception management device can determine the corresponding perception operation according to the identified target. For example, if the perception management device identifies the target as a vehicle, the perception management device can determine that the perception operation includes a positioning operation, or includes a positioning operation and a motion direction recognition, or includes a positioning operation and an orientation recognition. If the perception management device identifies the target as a cat, the perception management device can determine that the perception operation includes a positioning operation and a posture recognition (such as recognizing whether the cat is lying or running, etc.). If the perception management device identifies the target as an excavator, the perception management device can determine that the perception operation includes a positioning operation, an orientation operation and a posture recognition (such as recognizing whether the digging arm of the excavator is working, etc.).

[0238] It can be understood that after receiving the perception operation instruction information, the first perception device can perform the perception operation indicated by the perception operation instruction information on the target in the second time period according to the target instruction information and the position prediction information, and obtain the second perception information.

[0239] Exemplarily, if the perception operation instruction information indicates a positioning operation, the first perception device can determine the position of the target in the second time period. The second perception information can indicate the position of the target in the second time period. Specifically, reference can be made to the corresponding description in S403.

[0240] Exemplarily, if the perception operation instruction information indicates a motion direction recognition, the first perception device can obtain the Doppler frequency shift of M scatter points in the second time period, determine the motion direction of each scatter point in the second time period according to the Doppler frequency shift, and then determine the motion direction of the target in the second time period. Alternatively, the first perception device perceives the position of the target at two different moments in the second time period, and the vector connection line between the two positions is the motion direction of the target in the second time period. For example, the first perception device perceives M scatter points at the moment t1 in the second time period, determines the positions of the M scatter points at the moment t1, and determines the position of the target at the moment t1 according to the positions of the M scatter points at the moment t1. The first perception device also perceives M scatter points at the moment t2 in the second time period, determines the positions of the M scatter points at the moment t2, and determines the position of the target at the moment t2 according to the positions of the M scatter points at the moment t2. If the moment t2 is later than the moment t1, the vector connection line from the position of the target at the moment t1 to the position of the target at the moment t2 is the motion direction of the target in the second time period. It can be understood that the second perception information can indicate the motion direction of the target in the second time period, such as indicating the motion direction of the target in the second time period through a three-dimensional vector coordinate.

[0241] Exemplarily, if the sensing operation indication information indicates orientation recognition, the first sensing device may obtain the positions of M scattering points in the second time period, and recognize the orientation of the target in the second time period based on the positions. The second sensing information may indicate the orientation of the target in the second time period. For example, the second sensing information may include an identifier corresponding to the orientation.

[0242] Exemplarily, if the sensing operation indication information indicates pose recognition, the first sensing device may obtain the positions of M scattering points in the second time period, and recognize the pose of the target in the second time period based on the positions. The second sensing information may indicate the pose of the target in the second time period. For example, the second sensing information may include an identifier corresponding to the pose.

[0243] Exemplarily, if the sensing operation indication information indicates pose recognition, the first sensing device may obtain the Doppler frequency shift of M scattering points in the second time period, and recognize the pose of the target in the second time period based on the Doppler frequency shift. Taking the example of the first sensing device determining the pose of an excavator, since when the excavator is driving, the Doppler frequency shifts corresponding to the robotic arm and the vehicle body are the same or similar, and the Doppler frequency shifts of both are not 0, and when the excavator is working, the Doppler frequency shifts corresponding to the robotic arm and the vehicle body are different, and the Doppler frequency shift corresponding to the vehicle body is 0, so if the Doppler frequency shift of the scattering points on the robotic arm in the second time period is the same or similar to the Doppler frequency shift of the scattering points on the vehicle body in the second time period, and both are not 0, then the first sensing device determines that the pose of the excavator is the driving state; if the Doppler frequency shift of the scattering points on the robotic arm in the second time period is different from the Doppler frequency shift of the scattering points on the vehicle body in the second time period, and the Doppler frequency shift of the scattering points on the vehicle body in the second time period is 0, then the first sensing device determines that the pose of the excavator is the working state.

[0244] Optionally, in Figure 4 a possible implementation manner of the method shown, the sensing management device may further instruct the first sensing device about the sensing method used to perform the above sensing operation on the target, so that the first sensing device uses the corresponding sensing method to perform the sensing operation on the target in the second time period and obtain the second sensing information. Specifically, as Figure 5 shown, Figure 4 the method shown may further include the following steps:

[0245] S402b: The sensing management device sends sensing method indication information to the first sensing device. Correspondingly, the first sensing device receives the sensing method indication information from the sensing management device.

[0246] In this application, the sensing method indication information may indicate the sensing method used for the sensing operation performed on the target. This sensing method includes information about sensing the center point of the target or information about a specified position on the target.

[0247] Exemplarily, the sensing mode indication information includes 1 bit. If the value of this 1 bit is "0", it indicates the information of the center point of the sensing target indicated by the sensing management device. If the value of this 1 bit is "1", it indicates the information of the specified position on the sensing target indicated by the sensing management device, and vice versa. The sensing mode indication information can also indicate the specified position, such as the sensing mode indication information includes the identifier of the specified position or the coordinates of the predicted specified position in the second time period. For another example, if the sensing mode indication information includes the identifier of the specified position or the coordinates of the predicted specified position in the second time period, it indicates the information of the specified position on the sensing target indicated by the sensing management device. If the sensing mode indication information is empty, or the sensing management device does not send the sensing mode indication information, it indicates the information of the center point of the sensing target indicated by the sensing management device.

[0248] Exemplarily, taking the sensing operation indication information indicating the positioning operation as an example, if the sensing mode indication information indicates the information of the center point of the sensing target, it means that it is necessary to determine the position of the center point of the target in the second time period. Therefore, after the first sensing device determines the positions of M scattering points in the second time period, it determines the geometric mean of these positions, and this geometric mean is the position of the center point of the target in the second time period. If the sensing mode indication information indicates the information of sensing A2 and A3, it means that it is necessary to determine the position of A2 in the second time period and the position of A3 in the second time period. Therefore, the first sensing device can use the method shown in S403 to sense the position of A2 in the second time period and the position of A3 in the second time period.

[0249] Exemplarily, taking the sensing operation indication information indicating the motion direction recognition as an example, if the sensing mode indication information indicates the information of the center point of the sensing target, it means that it is necessary to determine the motion direction of the center point of the target in the second time period. Therefore, after the first sensing device obtains the motion direction of each of the M scattering points in the second time period, it can determine the average value of these motion directions, and determine this average value as the motion direction of the center point of the target in the second time period. Alternatively, the first sensing device determines the positions of the geometric centers of the target at two different moments in the second time period, and the vector connection between these two positions is the motion direction of the center point of the target in the second time period.

[0250] Exemplarily, taking the sensing operation indication information indicating the motion direction recognition as an example, if the sensing mode indication information indicates the information of sensing A2, it means that it is necessary to determine the motion direction of A2 in the second time period. Therefore, the first sensing device can use the method shown in S403 to obtain the Doppler frequency shift of A2 in the second time period, and determine the motion direction of A2 in the second time period according to this Doppler frequency shift. Alternatively, the first sensing device determines the positions of A2 at two different moments in the second time period, and the vector connection between these two positions is the motion direction of A2 in the second time period.

[0251] Optionally, in Figure 4 a possible implementation of the method shown, if the sensing operation includes pose recognition, the sensing management device may further indicate the positions of M scattering points corresponding to different pose types to the first sensing device, so that the first sensing device can determine the pose of the target in the second time period. Specifically, it may be as Figure 5 shown Figure 4 The method shown may further include the following steps:

[0252] S402c: The sensing management device sends pose type information to the first sensing device. Correspondingly, the first sensing device receives the pose type information from the sensing management device.

[0253] In this application, the pose type information can be used to indicate the positions of M scattering points corresponding to different pose types. The "positions of M scattering points" here can be the actual positions of M scattering points, or the relative positions of M scattering points (such as the positions of M scattering points relative to the center point of the target). In this way, after the first sensing device determines the position of each of the M scattering points in the second time period, it can compare with the positions of the M scattering points indicated by the pose type information, and determine the pose type corresponding to the closest position as the pose of the target in the second time period. It can be understood that if the positions of the M scattering points indicated by the pose type information are the actual positions of the M scattering points, after the first sensing device determines the position of each of the M scattering points in the second time period, it can directly compare with the positions indicated by the pose type information; if the positions of the M scattering points indicated by the pose type information are the relative positions of the M scattering points, after the first sensing device determines the position of each of the M scattering points in the second time period, it can determine the relative positions of the M scattering points in the second time period, and then compare with the positions indicated by the pose type information.

[0254] Exemplarily, taking the pose types including pose type 1 to pose type 3 and the pose type information indicating the actual positions of M scattering points as an example, the content included in the pose type information can be as shown in Table 4. After the first sensing device determines the position of each of the M scattering points in the second time period, it can compare with the positions shown in Table 4. If the position of each of the M scattering points in the second time period is closest to each position 1 in Table 4, the first sensing device determines that the pose type of the target in the second time period is pose type 1; if the position of each of the M scattering points in the second time period is closest to each position 2 in Table 4, the first sensing device determines that the pose type of the target in the second time period is pose type 2; if the position of each of the M scattering points in the second time period is closest to each position 3 in Table 4, the first sensing device determines that the pose type of the target in the second time period is pose type 3.

[0255] Table 4

[0256] Attitude type Positions of M scatter points Attitude type 1 <![CDATA[Position 1 of A1, Position 1 of A1, ……, A M 's Position 1]]> Attitude type 2 <![CDATA[The position 2 of A1, the position 2 of A1, ……, A M 's position 2]]> Attitude type 3 <![CDATA[The position 3 of A1, the position 3 of A1, ……, the position 3 of A M >

[0257] It can be understood that if the first sensing device fails to recognize the posture of the target in the second time period, it can indicate to the sensing management device that it fails to recognize the posture of the target in the second time period.

[0258] Multiple pieces of information sent by the above-mentioned sensing management device to the first sensing device, such as target indication information, position prediction information, first indication information, sensing operation indication information, or posture type information, etc., can be included in one message or can be included in multiple messages, without limitation.

[0259] It can be understood that the actions of the sensing management device, the first sensing device, or the second sensing device in the above steps can be Figure 3 executed by the processor 301 in the communication device 30 shown in the figure to call the application program code stored in the memory 303. The present application does not impose any restrictions on this.

[0260] In the case where the solutions of the various embodiments mentioned above in the present application are not contradictory, they can all be combined without limitation.

[0261] The above mainly introduces the solution provided by the present application from the perspective of the interaction between various devices. Correspondingly, the present application also provides a communication device, which can be the sensing management device in the above method embodiment, or a device including the above sensing management device, or a component that can be used for the sensing management device; or, the communication device can be the first sensing device in the above method embodiment, or a device including the above first sensing device, or a component that can be used for the first sensing device; or, the communication device can be the second sensing device in the above method embodiment, or a device including the above second sensing device, or a component that can be used for the second sensing device. It can be understood that in order to implement the above functions, the above-mentioned sensing management device, first sensing device, or second sensing device, etc., includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm operations of the examples described in the embodiments disclosed in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0262] This application can divide the functional modules of the perception management device, the first perception device, or the second perception device according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. It can be understood that the division of modules in this application is schematic, only a logical function division, and there can be other division methods in actual implementation.

[0263] For example, in the case of dividing each functional module in an integrated manner, Figure 6 FIG. shows a schematic structural diagram of a communication device 60. The communication device 60 includes a processing module 601 and an interface module 602. The processing module 601, which can also be referred to as a processing unit, is used to perform operations other than transceiver operations. For example, it can be a processing circuit or a processor, etc. The interface module 602, which can also be referred to as an interface unit, is used to perform transceiver operations. For example, it can be an interface circuit, a transceiver, a transceiver, or a communication interface, etc.

[0264] In some embodiments, the communication device 60 may further include a storage module ( Figure 6 not shown in the figure), which is used to store program instructions and data.

[0265] In some embodiments, the communication device 60 may further include an AI module ( Figure 6 not shown in the figure), which is used to implement AI-related functions. The AI module can implement AI functions through software, hardware, or a combination of software and hardware. For example, the AI module includes a RIC module. Optionally, the AI module and the storage module are integrated into one module, or the AI module and the processing module 601 are integrated into one module.

[0266] Exemplarily, the communication device 60 is used to implement the functions of the perception management device. The communication device 60 is, for example, Figure 4 the perception management device described in the embodiment shown in Figure 5 the embodiment shown or

[0267] Among them, the processing module 601 is used to obtain N first perception information. Among them, the N first perception information corresponds to K scattering points. Any one of the first perception information is the information of the scattering point obtained by perceiving the corresponding scattering point within the first time period. K is an integer greater than 1, and N is an integer greater than or equal to K. For example, the processing module 601 can be used to execute S401.

[0268] The interface module 602 is configured to send target indication information and position prediction information according to N pieces of first sensing information. The target indication information indicates that M scattering points belong to the same target, where the M scattering points are all or part of the K scattering points. The position prediction information indicates the position of each of the predicted M scattering points in a second time period, and the second time period is later than the first time period. The position prediction information is used to sense the target within the second time period. For example, the interface module 602 may be configured to execute S402.

[0269] When used to implement the functions of the sensing management device, for other functions that the communication device 60 can implement, reference may be made to Figure 4 the embodiments shown in Figure 5 or the relevant descriptions of the embodiments shown in

[0270] Or, exemplarily, the communication device 60 is used to implement the functions of the first sensing device or the second sensing device. The communication device 60 is, for example, Figure 4 the first sensing device / second sensing device described in the embodiments shown in Figure 5 or the embodiments shown in

[0271] The interface module 602 is configured to receive target indication information and position prediction information. The target indication information indicates that M scattering points belong to the same target, and the position prediction information indicates the position of each of the predicted M scattering points in a second time period, where M is an integer greater than 1. For example, the interface module 602 may be configured to execute S402.

[0272] The processing module 601 is configured to sense the target within the second time period according to the target indication information and the position prediction information. For example, the processing module 601 may be configured to execute S403.

[0273] When used to implement the functions of the first sensing device / second sensing device, for other functions that the communication device 60 can implement, reference may be made to Figure 4 the embodiments shown in Figure 5 or the relevant descriptions of the embodiments shown in

[0274] In a simple embodiment, those skilled in the art can conceive that the communication device 60 may adopt Figure 3 the form shown in Figure 3 For example, the processor 301 in

[0275] Exemplarily, Figure 6 the functions / implementation processes of the processing module 601 and the interface module 602 in Figure 3The processor 301 in it calls the computer-executable instructions stored in the memory 303 to implement. Or, Figure 6 The function / implementation process of the processing module 601 in it can be achieved by Figure 3 The processor 301 in it calls the computer-executable instructions stored in the memory 303 to implement, Figure 6 The function / implementation process of the interface module 602 in it can be achieved by Figure 3 The communication interface 304 in it to implement.

[0276] It can be understood that one or more of the above modules or units can be implemented by software, hardware, or a combination of both. When any of the above modules or units is implemented by software, the software exists in the form of computer program instructions and is stored in the memory. The processor can be used to execute the program instructions and implement the above method flow. The processor can be built into a SoC (System on Chip) or ASIC, or it can be an independent semiconductor chip. In addition to the core in the processor for executing software instructions for arithmetic or processing, it may further include necessary hardware accelerators, such as a field programmable gate array (FPGA), a programmable logic device (PLD), or a logic circuit for implementing dedicated logic operations.

[0277] When the above modules or units are implemented by hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, a SoC, an FPGA, a PLD, a dedicated digital circuit, a hardware accelerator, or a non-integrated discrete device, which can run the necessary software or execute the above method flow without relying on software.

[0278] Optionally, the present application further provides a chip system, including: at least one processor and an interface. The at least one processor is coupled to the memory through the interface. When the at least one processor executes the computer program or instructions in the memory, the method in any of the above method embodiments is executed. In a possible implementation manner, the chip system further includes a memory. Optionally, the chip system can be composed of chips, or it can include chips and other discrete devices. The present application does not make specific limitations on this.

[0279] Optionally, the present application further provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by a computer program instructing relevant hardware. This program can be stored in the above computer-readable storage medium. When this program is executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be an internal storage unit of the communication device in any of the foregoing embodiments, such as the hard disk or memory of the communication device. The above computer-readable storage medium can also be an external storage device of the communication device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the communication device. Further, the above computer-readable storage medium can also include both the internal storage unit and the external storage device of the communication device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the communication device. The above computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0280] Optionally, the present application further provides a computer program product. All or part of the processes in the above method embodiments can be completed by a computer program instructing relevant hardware. This program can be stored in the above computer program product. When this program is executed, it can include the processes of the above method embodiments.

[0281] Optionally, the present application further provides a computer instruction. All or part of the processes in the above method embodiments can be completed by a computer instruction instructing relevant hardware (such as a computer, a processor, a perception management device, a first perception device, or a second perception device, etc.). This program can be stored in the above computer-readable storage medium or the above computer program product.

[0282] Optionally, the present application further provides a communication system, including: the perception management device in the above embodiments, and a first perception device and / or a second perception device.

[0283] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above function modules is used as an example. In actual applications, the above functions can be allocated to different function modules according to needs, that is, the internal structure of the device is divided into different function modules to complete all or part of the functions described above.

[0284] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the devices or units can be in electrical, mechanical or other forms.

[0285] The units described as separate components may or may not be physically separated. The components displayed as units can be one physical unit or multiple physical units, that is, they can be located in one place, or they can be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0286] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0287] As mentioned above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A target detection method, characterized in that, The method includes: Obtain N first sensing information, where the N first sensing information corresponds to K scattering points. Any one of the first sensing information is the information of the scattering point obtained by sensing the corresponding scattering point within a first time period. K is an integer greater than 1, and N is an integer greater than or equal to K; Send target indication information and position prediction information according to the N first sensing information. The target indication information indicates that M scattering points belong to the same target. The M scattering points are all or part of the K scattering points. The position prediction information indicates the position of each of the M scattering points in a second time period. The second time period is later than the first time period. The position prediction information is used to sense the target within the second time period.

2. The method according to claim 1, characterized in that, The method further includes: Send first indication information to a first sensing device. The first indication information indicates that a first scattering point among the M scattering points is the one sensed by the first sensing device within the first time period.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Send sensing operation indication information, where the sensing operation indication information indicates the sensing operation to be performed on the target within the second time period.

4. The method according to claim 3, characterized in that, The sensing operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition, or pose recognition.

5. The method according to claim 4, characterized in that, When the sensing operation includes pose recognition, the method further includes: Send pose type information, where the pose type information is used to indicate the positions of the M scattering points corresponding to different pose types.

6. The method according to any one of claims 3 - 5, characterized in that, The method further includes: Send sensing method indication information, where the sensing method indication information indicates the sensing method used to perform the sensing operation on the target.

7. The method according to claim 6, characterized in that, The sensing method includes sensing the information of the center point of the target or sensing the information of a specified position on the target.

8. The method according to any one of claims 3 - 7, characterized in that, The method further includes: Obtain second sensing information, where the second sensing information indicates the information obtained by sensing the target within the second time period according to the sensing operation indication information.

9. A target detection method, characterized in that, The method includes: Receive target indication information and position prediction information. The target indication information indicates that M scattering points belong to the same target. The position prediction information indicates the position of each of the M scattering points in a second time period. M is an integer greater than 1; Sense the target within the second time period according to the target indication information and the position prediction information.

10. The method according to claim 9, characterized in that, The method further includes: Obtain P first sensing information, where the P first sensing information respectively corresponds to P scattering points. Any one of the first sensing information is the information of the scattering point obtained by sensing the corresponding scattering point within a first time period. The P scattering points are all or part of the M scattering points. The second time period is later than the first time period. P is a positive integer; Send the P first sensing information.

11. The method according to claim 10, characterized in that, The method further includes: Receive first indication information, where the first indication information indicates that a first scattering point among the M scattering points is a scattering point among the P scattering points.

12. The method according to any one of claims 9 - 11, characterized in that, The method further includes: Receive sensing operation indication information, where the sensing operation indication information indicates the sensing operation to be performed on the target within the second time period; The sensing of the target within the second time period according to the target indication information and the position prediction information includes: Performing the sensing operation on the target within the second time period according to the target indication information and the position prediction information to obtain second sensing information.

13. The method according to claim 12, characterized in that,The method further includes: Sending the second sensing information.

14. The method according to claim 12 or 13, characterized in that, The sensing operation includes at least one of the following: positioning operation, motion direction recognition, orientation recognition, or pose recognition.

15. The method according to claim 14, characterized in that, When the sensing operation includes pose recognition, the method further includes: Receiving pose type information, where the pose type information is used to indicate the positions of the M scattering points corresponding to different pose types.

16. The method according to any one of claims 12 - 15, characterized in that, The method further includes: Receiving sensing method indication information, where the sensing method indication information indicates the sensing method used to perform the sensing operation on the target.

17. The method according to claim 16, characterized in that, The sensing method includes sensing information of the center point of the target or sensing information of a specified position on the target.

18. A communication device, characterized in that, Including a unit or module for performing the method according to any one of claims 1 to 8, or including a unit or module for performing the method according to any one of claims 9 to 17.

19. A communication device, characterized in that, Including: A processor, the processor is coupled to a memory, and the memory is used to store programs or instructions. When the programs or instructions are executed by the processor, the device performs the method according to any one of claims 1 to 8, or performs the method according to any one of claims 9 to 17.

20. A computer-readable storage medium, on which a computer program or instruction is stored, characterized in that, When the computer program or instructions are executed, the computer performs the method according to any one of claims 1 to 8, or the method according to any one of claims 9 to 17.

21. A computer program product, which includes computer program code, characterized in that, When the computer program code runs on a computer, the computer implements the method according to any one of claims 1 to 8, or implements the method according to any one of claims 9 to 17.

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