Perception processing method and system, communication device and storage medium

Abstract

The invention provides a perception processing method and system, a communication device and a storage medium, relates to the technical field of communication, and can solve the problems of inflexible architecture, high design complexity, poor perception effect and the like in related systems and technical schemes. The method comprises the following steps: receiving a plurality of sensing results from a plurality of first nodes, wherein each sensing result represents a sensing result in a sub-region managed by the corresponding first node; and based on the perception results in the plurality of sub-regions, determining a perception result of a perception region, the perception region comprising the plurality of sub-regions. The sensing effect can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technologies, and in particular, to a sensing processing method, system, communication device, and storage medium. Background Art

[0002] The integrated communication, sensing, and computing network architecture introduces computing power devices on the basis of integrated communication and sensing to provide computing power support for data processing in communication sensing scenarios. The integrated communication, sensing, and computing network architecture generally consists of a radio access network, user equipment (such as an unmanned aerial vehicle), a computing power device, and a core network with a sensing server.

[0003] The current integrated communication, sensing, and computing network architecture is difficult to cope with various complex communication, sensing, and computing scenarios. For example, there are problems such as limited processing capacity of a single node, difficulty in flexibly selecting devices for performing sensing, and the need for additional processing due to overlapping base station coverage, resulting in poor sensing effects. Summary of the Invention

[0004] Embodiments of the present disclosure provide a sensing processing method, system, communication device, and storage medium, which can solve the problem of poor sensing effects in related technologies.

[0005] On the one hand, a sensing processing method is provided, including:

[0006] Receiving multiple sensing results from multiple first nodes, each sensing result representing the sensing result within a sub-region managed by the corresponding first node;

[0007] Based on the sensing results within multiple sub-regions, determining the sensing result of a sensing region, where the sensing region includes multiple sub-regions.

[0008] On the other hand, another sensing processing method is provided, including:

[0009] Obtaining sensing detection data of a sensing node within a managed sub-region;

[0010] When the sensing detection data indicates that a sensing target is within the sub-region managed by the first node, determining the sensing result of the sub-region based on the sensing detection data;

[0011] Sending the sensing result to a sensing network element.

[0012] On the other hand, a sensing communication system is provided, including:

[0013] A first node, configured to determine the sensing result of a managed sub-region; send the sensing result to a sensing network element;

[0014] A sensing network element, configured to receive multiple sensing results from multiple first nodes; based on the sensing results within multiple sub-regions, determine the sensing result of a sensing region, where the sensing region includes multiple sub-regions.

[0015] In another aspect, a perception network element is provided, including: a processing unit and a communication unit; the communication unit is configured to receive a plurality of perception results from a plurality of first nodes, and each perception result represents a perception result within a sub-region managed by the corresponding first node; the processing unit is configured to determine a perception result of a perception region based on the perception results within the plurality of sub-regions, where the perception region includes a plurality of sub-regions.

[0016] In another aspect, a first node is provided, including: a processing unit and a communication unit; the communication unit is configured to obtain perception detection data of perception nodes within the managed sub-region; the processing unit is configured to determine a perception result of the sub-region based on the perception detection data when the perception detection data indicates that a perception target is within the sub-region managed by the first node; the communication unit is configured to send the perception result to the perception network element.

[0017] In another aspect, a communication device is provided, including: a memory and a processor; the memory is coupled to the processor; the memory is configured to store a computer program; when the processor executes the computer program, the method described in any of the above embodiments is implemented.

[0018] In another aspect, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method described in any of the above embodiments is implemented.

[0019] In another aspect, a computer program product is provided, which includes computer program instructions, and when the computer program instructions are executed by a processor, the method described in any of the above embodiments is implemented.

[0020] Embodiments of the present disclosure can divide the perception network in the form of a perception grid. Since each sub-region corresponds to a first node, the perception network element can obtain the perception results within the corresponding sub-regions from the multiple first nodes involved, and determine the perception result of the perception region based on the perception results of the multiple sub-regions. In this way, the technical solution proposed by the present disclosure can flexibly perform perception operations to cope with various communication-sensing-computation scenarios, thereby improving the perception effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the present disclosure, the following will briefly introduce the drawings required in some embodiments of the present disclosure. Obviously, the drawings in the following description are only the drawings of some embodiments of the present disclosure, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0022] Figure 1 It is an architecture diagram of a perception communication system provided for some embodiments of the present disclosure;

[0023] Figure 2 The architecture diagram of another perception communication system provided by some embodiments of the present disclosure;

[0024] Figure 3 The architecture diagram of another perception communication system provided by some embodiments of the present disclosure;

[0025] Figure 4 The architecture diagram of another perception communication system provided by some embodiments of the present disclosure;

[0026] Figure 5 The architecture diagram of another perception communication system provided by some embodiments of the present disclosure;

[0027] Figure 6 The architecture diagram of another perception communication system provided by some embodiments of the present disclosure;

[0028] Figure 7 The flowchart of a perception processing method provided by some embodiments of the present disclosure;

[0029] Figure 8 The flowchart of another perception processing method provided by some embodiments of the present disclosure;

[0030] Figure 9 The flowchart of another perception processing method provided by some embodiments of the present disclosure;

[0031] Figure 10 The flowchart of another perception processing method provided by some embodiments of the present disclosure;

[0032] Figure 11 The flowchart of a perception processing method provided by some embodiments of the present disclosure;

[0033] Figure 12 The flowchart of another perception processing method provided by some embodiments of the present disclosure;

[0034] Figure 13 The flowchart of another perception processing method provided by some embodiments of the present disclosure;

[0035] Figure 14 The structure diagram of a perception network element provided by some embodiments of the present disclosure;

[0036] Figure 15 The structure diagram of a first node provided by some embodiments of the present disclosure;

[0037] Figure 16 The structure diagram of a communication device provided by some embodiments of the present disclosure. Detailed implementation manners

[0038] The following will clearly and completely describe the technical solutions in the present disclosure in conjunction with the accompanying drawings in the present disclosure. Obviously, the described embodiments are only a part rather than all of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0039] It should be noted that in the present disclosure, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present disclosure should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0040] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0041] In the description of the present disclosure, unless otherwise specified, " / " means "or". For example, A / B may represent A or B. The "and / or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, "at least one" means one or more, and "a plurality" means two or more.

[0042] Hereinafter, the nouns related to the embodiments of the present disclosure will be explained to facilitate the understanding of readers.

[0043] (1) Integrated Sensing and Communication (ISAC)

[0044] Integrated sensing and communication refers to integrating sensing capabilities into a communication system so that the communication system simultaneously has sensing capabilities and communication capabilities. This technology is used to actively recognize and analyze the characteristics of the channel while transmitting information over a wireless channel, thereby sensing the physical characteristics of the surrounding environment and achieving mutual enhancement of communication and sensing functions.

[0045] The integrated sensing and communication technology is realized by using the wireless signals transmitted by communication devices. While the wireless signals complete the communication function, they can also be used for environmental sensing. By collecting and analyzing the reflected, scattered, and multi-path propagated wireless signals of the surrounding environment, the surrounding environmental information can be analyzed, enabling the network side to quickly make decisions, such as issuing control instructions, triggering alarms, adjusting the communication rate, and so on.

[0046] (2) Integrated Access and Backhaul (IAB)

[0047] IAB is used for integrated access and backhaul of information among terminals, core networks, and servers in a communication system.

[0048] Among them, IAB includes two types of devices: IAB nodes and IAB donors. An IAB donor consists of a centralized unit (CU) and one or more distributed units (DUs).

[0049] The integrated communication, sensing, and computing network architecture introduces computing power devices on the basis of integrated communication and sensing to provide computing power support for data processing in communication and sensing scenarios. The integrated communication, sensing, and computing network architecture usually consists of a radio access network, user equipment (such as drones), computing power devices, and a core network with a sensing server.

[0050] The current integrated communication, sensing, and computing network architecture is difficult to cope with various complex communication, sensing, and computing scenarios. For example:

[0051] 1. In some cases, it is necessary to process sensing data through algorithms with high complexity. However, the processing capacity of a single node is limited and it is difficult to meet the computing power requirements of high-complexity algorithms.

[0052] 2. Facing different sensing requirements, it is difficult to select a suitable sensing device for sensing, and it is also difficult to select a suitable computing power device to process the sensing data measured by the sensing device.

[0053] 3. In actual network deployment, multiple base station devices usually have overlapping areas. Therefore, sensing information in multiple overlapping areas will be generated, and the information represented by these sensing information is often not exactly the same, so there is ambiguity.

[0054] In summary, the current integrated communication, sensing, and computing network architecture is difficult to cope with various complex communication, sensing, and computing scenarios, resulting in poor sensing effects.

[0055] In view of this, the present disclosure provides a communication, sensing, and computing network architecture that can be flexibly extended and scaled, and supports mutual cooperation among multiple communication, sensing, and computing nodes. At the same time, the present disclosure also provides an interaction process of communication, sensing, and computing based on this network architecture to improve the sensing effect.

[0056] The following will describe the implementation manners of the embodiments of the present disclosure in detail with reference to the accompanying drawings of the specification.

[0057] Figure 1This is an architecture diagram of a sensing communication system 10 provided by an embodiment of the present disclosure. As Figure 1 shown, the sensing communication system 10 includes: a sensing network element 101, a computing node 102, and a sensing node 103.

[0058] Among them, the sensing network element 101 can be located on the core network side of the sensing communication system 10. The core network side is mainly used to support functions such as communication mobility management, sensing management, and control.

[0059] The computing node 102 and the sensing node 103 can be located on the access network side of the sensing communication system 10. The access network side is mainly used to support functions such as communication, sensing, and computing. Devices on the core network side and the access network side transmit data through the transmission network.

[0060] In a possible implementation, the functional entities of the sensing network element 101 can also be deployed on the access network side according to actual needs, and the present disclosure does not limit this.

[0061] The sensing network element 101 is used to manage the sensing network, for example, it has various sensing-related functions such as sensing authorization, capability interaction, network element selection, control, and data processing.

[0062] The computing node 102 refers to the node device that provides computing power resources in the sensing communication system 10. Exemplarily, the computing node 102 can be a server, a computing board, or other types of computing devices.

[0063] The sensing node 103 refers to a device, module, or component in the sensing communication system 10 that has both communication capabilities and sensing capabilities, and is used to transmit and receive data, communication signals, sensing signals, or control information, etc. Exemplarily, the sensing node 103 can be an access network device such as a base station, a relay station, an IAB node, or a user device such as a terminal.

[0064] It should be noted that the computing node 102 can be deployed separately or jointly with the sensing node 103. For example, the computing node 102 can be a base station, a relay station, an IAB node, or a terminal that has been allocated computing power and resources. At this time, these devices belong to both the computing node 102 and the sensing node 103. The present disclosure does not limit this.

[0065] In a possible implementation, the perception communication system 10 may further include a communication network element. The communication network element is used to manage the communication network, for example, to implement core services such as data transmission, signaling processing, and network management in the communication network. The communication network element can not only process and forward a large amount of data traffic, but also support various signaling processing and network management functions, thus ensuring the normal operation of the communication network. The specific functions of the perception network element may depend on the actual communication network, and this application does not limit this. For example, the communication-related functions of the perception network element are implemented by a separate functional entity, that is, the communication network element.

[0066] Among them, the access network devices include, but are not limited to: access points (APs) in the WiFi system, such as home gateways, routers, servers, switches, bridges, etc., evolved NodeBs (eNBs), radio network controllers (RNCs), NodeBs (NBs), base station controllers (BSCs), base transceiver stations (BTSs), home base stations (for example, home evolved NodeBs, or home NodeBs, HNBs), baseband units (BBUs), wireless relay nodes, wireless backhaul nodes, transmission and reception points (TRPs or TPs), etc. It can also be a 5G base station, such as a gNB in the new radio (NR) system, or a transmission point (TRP or TP), one or a group of antenna panels (including multiple antenna panels) of the base station in the 5G system, or it can also be a network node constituting the gNB or the transmission point, such as a baseband unit (BBU), or a distributed unit (DU), a roadside unit (RSU) with base station functions, or a 5G radio access network (NG-RAN) device, etc. The access network devices also include base stations in different networking modes, such as master evolved NodeBs (MeNBs), secondary eNBs (SeNBs, or secondary gNBs, SgNBs). The access network devices also include different types, such as terrestrial base stations, aerial base stations, and satellite base stations, etc.

[0067] A terminal is a device with wireless communication capabilities that can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted. It can also be deployed on water (such as ships, etc.) and can be deployed in the air (such as airplanes, balloons, satellites, etc.). A terminal is also known as user equipment (UE), mobile station (MS), mobile terminal (MT), and terminal device, etc., and is a device that provides voice and / or data connectivity to users. For example, terminals include handheld devices with wireless connection capabilities, vehicle-mounted devices, etc. Currently, terminals can be: mobile phones, tablet computers, laptop computers, palmtop computers, mobile internet devices (MID), wearable devices (such as smart watches, smart bracelets, pedometers, etc.), vehicle-mounted devices (such as cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed trains, etc.), virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, smart home devices (such as refrigerators, TVs, air conditioners, electricity meters, etc.), smart robots, workshop equipment, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grid, wireless terminals in transportation safety, wireless terminals in smart city, or wireless terminals in smart home, flying devices (such as smart robots, hot air balloons, drones, airplanes), etc. In a possible application scenario of the present disclosure, the terminal device is a terminal device that often works on the ground, such as a vehicle-mounted device. In the present disclosure, for the convenience of description, a chip deployed in the above devices, such as a System-On-a-Chip (SOC), baseband chip, etc., or other chips with communication capabilities can also be referred to as a terminal.

[0068] The terminal can be a vehicle with corresponding communication capabilities, or a vehicle-mounted communication device, or other embedded communication devices, or it can be a user's handheld communication device, including mobile phones, tablet computers, etc.

[0069] As an example, in the embodiments of the present disclosure, the terminal may also be a wearable device. A wearable device, also known as a wearable intelligent device, is a general term for devices developed by applying wearable technologies to the intelligent design of daily wear, such as glasses, gloves, watches, clothing, and shoes. A wearable device is a portable device that can be directly worn on the body or integrated into the user's clothes or accessories. A wearable device is not only a hardware device, but also realizes powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable intelligent devices include those with complete functions and large sizes that can realize complete or partial functions without relying on a smart phone, such as smart watches or smart glasses, as well as those that only focus on a certain type of application function and need to cooperate with other devices such as smart phones, such as various smart bracelets and smart jewelry for physical sign monitoring.

[0070] As a possible embodiment, the sensing network in the present disclosure is divided and managed based on a grid-based method. Combining Figure 1 , as Figure 2 shown, the coverage area of the sensing network is divided into multiple sub-regions. Each sub-region includes a computing node 102 and a sensing node 103.

[0071] Among them, each sub-region corresponds to a first node, which is the computing node 102 in the sub-region. The first node is connected to other computing nodes 102 in the sub-region, and the computing node 102 is connected to one or more sensing nodes 103. The first node is connected to the sensing network element 101 through a transmission network.

[0072] It should be noted that the computing node 102 as the first node can also be connected to one or more sensing nodes 103.

[0073] The first node is used to determine the sensing result of the sub-region it manages and send the sensing result to the sensing network element 101.

[0074] The sensing network element 101 is used to receive multiple sensing results from multiple first nodes and determine the sensing result of the sensing region based on the sensing results in multiple sub-regions.

[0075] Among them, each sensing result represents the sensing result in the sub-region managed by the corresponding first node. The sensing region includes multiple sub-regions. The first node corresponding to the sub-region is used to manage the sensing nodes 103 and computing nodes 102 in the sub-region.

[0076] In a possible implementation manner, the sensing network element 101 is further used to send a first request message to multiple first nodes.

[0077] The first node is further configured to receive a first request message sent by the sensing network element 101, and trigger the sensing nodes 103 within the sub-region managed by the first node to perform sensing detection.

[0078] Wherein, the first request message is used to request the first node to trigger the sensing nodes 103 within the sub-region managed by the first node to perform sensing detection.

[0079] In this way, the sensing network element 101 can determine the sensing area based on the sensing requirements of the application layer, thereby determining a plurality of sub-regions included in the sensing area, and instructing the first nodes corresponding to the plurality of sub-regions to trigger the sensing detection of the sensing nodes 103 within the sub-regions.

[0080] Exemplarily, the sensing network element 101 is further configured to send a resource configuration message to a plurality of first nodes.

[0081] The first node is further configured to receive the resource configuration message sent by the sensing network element 101.

[0082] Wherein, the resource configuration message is used to configure the sensing resources of the computing nodes 102 and the sensing nodes 103 within the sub-region. The sensing resources include signal resources in dimensions such as time domain, frequency domain, and beam, as well as signal transceiver mode configuration parameters.

[0083] In a possible implementation, the sensing network element 101 is further configured to obtain the coverage capabilities of the sensing nodes 103 in the sensing network and the computing capabilities of the computing nodes 102, and divide the coverage range of the sensing network into a plurality of sub-regions based on the coverage capabilities of the sensing nodes 103 in the sensing network and the computing capabilities of the computing nodes 102.

[0084] Wherein, there is at least one computing node 102 and at least one sensing node 103 in each sub-region.

[0085] In a possible implementation, there is no uncovered area and no overlapping area between any two adjacent sub-regions.

[0086] That is to say, the sub-regions in the present disclosure are seamlessly connected. There are no coverage holes between the sub-regions within the coverage range of the sensing network, and there is no overlap between the sub-regions. Therefore, the targets sensed by the sensing nodes 103 always belong to a certain sub-region, which is convenient for the first nodes of each sub-region to manage and maintain the sensing targets.

[0087] Exemplarily, the sub-region can be a standard polygon, such as a cuboid, a triangular prism, a hexagonal prism, etc. As Figure 2 shown, the coverage range of the sensing network is divided into 4 cuboid-shaped sub-regions ( Figure 2 is a top view schematic diagram, and the height information is not shown).

[0088] In this way, the sensing network element 101 can define the position information of the sub-regions based on the vertex coordinates of the standard polygon, such as shape, position, coverage range, etc., so as to facilitate the seamless connection between sub-regions and the segmentation of the sensing network.

[0089] Among them, the height of the sub-region can be set according to actual needs, for example, by setting the minimum height and the maximum height to determine the height of the sub-region.

[0090] The sub-regions can also be divided in other ways to meet the coverage holes between sub-regions, and there is no overlap between sub-regions. The present disclosure does not limit this.

[0091] Exemplarily, the division of the sub-regions in the present disclosure can be performed in the horizontal dimension or in the vertical dimension.

[0092] In one possible implementation, the coverage range of the sensing network can be divided into multiple sub-regions in the horizontal dimension. The division method can refer to the above description.

[0093] In another possible implementation, the coverage range of the sensing network is divided into multiple layers in the vertical dimension, and each layer is divided into one or more sub-regions in the horizontal dimension. In this way, for service areas with some special terrains, signal sensing can also be performed according to the technical solution provided by the present disclosure, such as high-rise buildings like office buildings.

[0094] Exemplarily, the sensing network element 101 can perform the division operation of the sub-regions during the initialization phase or during the sub-region change phase. In addition, after the sub-region division, the sensing network element 101 can also assign a first node to each sub-region.

[0095] In one possible implementation, the sensing network element 101 is further configured to use the computing node 102 as the first node corresponding to the sub-region when there is only one computing node 102 in the sub-region; when there are multiple computing nodes 102 in the sub-region, based on the position information of the multiple computing nodes 102, select one computing node 102 from the multiple computing nodes 102 as the first node corresponding to the sub-region.

[0096] Exemplarily, the sensing network element 101 can determine the transmission link distances between the computing nodes 102 and the transmission link distance between the computing node 102 and the sensing node 103, so as to determine the first node corresponding to the sub-region based on the transmission link distances, that is, select the computing node 102 with shorter transmission link distances to both other computing nodes 102 and the sensing node 103 as the first node, thereby ensuring the data transmission efficiency.

[0097] Exemplarily, the perception network element 101 may also determine the coverage range of the perception nodes 103 connected to each computing node 102, and use the computing node 102 with the largest overlapping area between the coverage range and the corresponding sub-region as the first node of the sub-region, thereby reducing the interaction requirements between the computing nodes 102.

[0098] In a possible implementation, the perception network element 101 may also determine the computing power resource requirements of the first node corresponding to each sub-region according to the task category of perception computing. For example, the perception computing task includes target deduplication in the overlapping area of the perception region.

[0099] In a possible implementation, the perception network element 101 is further configured to send sub-region information to the first node corresponding to each sub-region.

[0100] The first node is further configured to receive the sub-region information sent by the perception network element 101.

[0101] Wherein, the sub-region information includes the identifier of each sub-region and the range information of each sub-region.

[0102] Exemplarily, the range information of the sub-region may be represented by the vertex coordinates of the sub-region.

[0103] In a possible implementation, the first node is further configured to send the perception detection data of the perception target to the first node corresponding to other sub-regions when the perception detection data indicates that the perception target is located in other sub-regions.

[0104] Wherein, the perception detection data includes at least one of the following: the identifier of the perception target, longitude and latitude information, altitude, distance, speed, acceleration, azimuth angle, pitch angle, the type of the perception target, the signal strength of the perception target, and the signal-to-noise ratio of the perception target. It should be noted that since the coverage area of the perception node 103 has no direct connection with the division of the sub-regions, the coverage area of the perception node 103 may cover other sub-regions. Therefore, the perception target sensed by the first node may also be located in other sub-regions. At this time, the first node may send the data information related to the perception target to the first node corresponding to other sub-regions, so that the first node corresponding to other sub-regions can perform fusion processing on the data of the perception target.

[0105] Exemplarily, the first node corresponding to other sub-regions reports to the perception network element 101 after fusing and processing the data of the perception target, and at the same time returns the processed data information to the first node of the original sub-region. At this time, for the first node of the original sub-region, this first node may send the perception result to the perception network element 101 within a preset time.

[0106] In a possible implementation, the first node is further configured to send an exception warning message to the perception network element 101 when an exception occurs in the first node.

[0107] The sensing network element 101 is used to receive the abnormal alarm information sent by the first node.

[0108] It should be noted that when an abnormal situation occurs and the first node cannot work properly, it can be determined whether there is computing power redundancy in the first nodes of adjacent sub-regions. When there is no computing power redundancy, the first node can send abnormal alarm information to the sensing network element 101, thereby indicating that the sub-region managed by the first node is an invalid region.

[0109] The first node is also used to send a second request message to an adjacent first node when an abnormality occurs in the first node. Among them, the second request message is used to request the adjacent first node to assist in managing the sub-region corresponding to the first node.

[0110] When there is computing power redundancy in the first nodes of adjacent sub-regions, the first node can send a request message to the adjacent first node to request the adjacent first node to assist in managing the sub-region corresponding to the first node. At this time, the adjacent first node can establish a transmission link with other computing nodes 102 and sensing nodes 103 in the sub-region and uniformly process the sensing tasks of the sub-region and its corresponding sub-region.

[0111] For the situation where the sensing node 103 cannot work properly, the first node is used to regard the coverage area corresponding to the sensing node 103 as an invalid region and send abnormal alarm information to the sensing network element 101.

[0112] In a possible implementation manner, the adjacent first node is also used to send a third request message to the first node when an abnormality occurs in the adjacent first node.

[0113] Correspondingly, the first node is used to receive the third request message sent by the adjacent first node.

[0114] Among them, the third request message is used to request the first node to assist in managing the sub-region corresponding to the adjacent first node.

[0115] The first node is also used to determine a target sensing result based on the sensing detection data of the sensing nodes 103 in the sub-region corresponding to the first node and the sub-region corresponding to the adjacent first node, and send the target sensing result to the sensing network element 101.

[0116] Next, the sensing communication system provided by the present disclosure will be introduced in combination with a specific scenario.

[0117] As Figure 3 shown, Figure 3 is an architecture diagram of a sensing communication system 30 provided by an embodiment of the present disclosure, corresponding to the application scenario of cuboid sub-region division and single computing node.

[0118] Among them, the coverage area of the perception network is divided into 4 sub-regions, which can be represented by {Sub-region #1, Sub-region #2, Sub-region #3, Sub-region #4}, and each sub-region is a cuboid.

[0119] Among them, each sub-region satisfies the following characteristics:

[0120] 1. The shape of the sub-region is a standard polyhedron;

[0121] 2. The perception grids are seamlessly connected, that is, there are no coverage holes between sub-regions within the coverage area of the perception network, and there is no overlap either;

[0122] 3. There is a one-to-one correspondence between the sub-region and the first node.

[0123] Exemplarily, the one-to-one mapping relationship between the sub-region and the first node can be expressed as: {{Sub-region #1: Computing Node #1}; {Sub-region #2: Computing Node #2}; {Sub-region #3: Computing Node #3}; {Sub-region #4: Computing Node #4}}. Since there is only 1 computing node in each sub-region, this computing node is the first node corresponding to the sub-region.

[0124] Among them, the first node corresponding to each sub-region will maintain the sub-region information within the coverage area of the perception network. For example, Computing Node #1 will maintain the information of {{Sub-region #1: Computing Node #1}; {Sub-region #2: Computing Node #2}; {Sub-region #3: Computing Node #3}; {Sub-region #4: Computing Node #4}}. When the sub-region information is generated and updated, the first node corresponding to each sub-region also needs to be generated and updated.

[0125] Exemplarily, Figure 3 the dashed box in represents the perception area that needs to be perceived, which involves 4 sub-regions. The perception network element determines that the above-mentioned Computing Node #1, Computing Node #2, Computing Node #3, and Computing Node #4 all need to perform perception detection based on the perception area.

[0126] Taking Computing Node #1 as an example, when the perceived target position sensed by Computing Node #1 is in the sub-region corresponding to Computing Node #2, Computing Node #1 sends the perception detection data of the perceived target to Computing Node #2. After Computing Node #2 performs fusion processing on the perception detection data of the perceived target, it reports the fused perception result to the perception network element, and at the same time returns the fused perception result to Computing Node #1. Computing Node #1 does not need to report this data.

[0127] The first node corresponding to each sub-region only reports the perception results within the sub-region it manages. For example, Computing Node #1 only reports the perception results within Sub-region #1. The perception network element splices the perception results of each sub-region after obtaining them, so as to obtain the perception result of the perception area corresponding to the perception requirement.

[0128] When the computing node #1 fails to work properly and there are redundant computing resources in the computing node #2, the computing node #2 can establish a transmission link with each sensing node under the sub-region #1 and merge the sub-region #1 and the sub-region #2 into one sub-region.

[0129] As Figure 4 shown, Figure 4 is an architecture diagram of a sensing and communication system 40 provided by an embodiment of the present disclosure, corresponding to the application scenario of cuboid sub-region division and multiple computing nodes.

[0130] Among them, the coverage range of the sensing network is divided into 2 sub-regions, which can be represented by {sub-region #1, sub-region #2}, and each sub-region is a cuboid.

[0131] Among them, each sub-region satisfies the following characteristics:

[0132] 1. The shape of the sub-region is a standard polyhedron;

[0133] 2. The sensing grids are seamlessly connected, that is, there are no coverage holes between sub-regions within the coverage range of the sensing network, and there is no overlap at the same time;

[0134] 3. There is a one-to-one correspondence between the sub-region and the first node.

[0135] Exemplarily, the one-to-one mapping relationship between the sub-region and the first node can be expressed as: {{sub-region #1: computing node #1}; {sub-region #2: computing node #2}}.

[0136] Among them, since there are multiple computing nodes in each sub-region, the sensing network element needs to select one computing node from multiple computing nodes as the first node corresponding to the sub-region. This first node can either be connected to the sensing node. This first node can also not be connected to the sensing node and serve as a pure computing power node.

[0137] Among them, the first node corresponding to each sub-region will maintain the sub-region information within the coverage range of the sensing network. For example, the computing node #1 will maintain the information of {{sub-region #1: computing node #1}; {sub-region #2: computing node #2}}. When the sub-region information is generated and updated, the first node corresponding to each sub-region also needs to be generated and updated.

[0138] Exemplarily, Figure 4 the dashed box in represents the sensing area that needs to be sensed, involving 2 sub-regions, and the sensing network element determines that both the above-mentioned computing node #1 and computing node #2 need to perform sensing detection based on the sensing area.

[0139] Taking computing node #1 as an example, when the perceived target position sensed by computing node #1 is in the corresponding sub-region of computing node #2, computing node #1 sends the sensed detection data of the perceived target to computing node #2. After computing node #2 performs fusion processing on the sensed detection data of the perceived target, it reports the fused sensed result to the sensing network element, and at the same time returns the fused sensed result to computing node #1. Computing node #1 does not need to report this data.

[0140] The first nodes corresponding to each sub-region only report the sensed results within the sub-regions they manage. For example, computing node #1 only reports the sensed results within sub-region #1. The sensing network element splices the sensed results of each sub-region after obtaining them, so as to obtain the sensed result of the sensing region corresponding to the sensing requirement.

[0141] When some of the sensing nodes under computing node #1 are damaged and cannot work, computing node #1 takes the coverage areas corresponding to these sensing nodes as invalid areas and reports abnormal alarm information to the sensing network element.

[0142] Such as Figure 5 shown, Figure 5 is an architecture diagram of a sensing communication system 50 provided by an embodiment of the present disclosure, corresponding to the application scenario of hexagonal prism sub-region division and single computing node.

[0143] The coverage area of the sensing network is divided into multiple sub-regions in the shape of hexagonal prisms.

[0144] Among them, each sub-region satisfies the following characteristics:

[0145] 1. The shape of the sub-region is a standard polyhedron;

[0146] 2. The sensing grids are seamlessly connected, that is, there are no coverage holes between sub-regions within the coverage area of the sensing network, and there is no overlap at the same time;

[0147] 3. There is a one-to-one correspondence between the sub-region and the first node.

[0148] Exemplarily, the sub-region and the first node are in one-to-one mapping. Since there is only 1 computing node in each sub-region, this computing node is the first node corresponding to the sub-region.

[0149] Among them, the first nodes corresponding to each sub-region will maintain the sub-region information within the coverage area of the sensing network. When the sub-region information is generated and updated, the first nodes corresponding to each sub-region also need to be generated and updated.

[0150] Exemplarily, Figure 5 the dashed box in represents the sensing region that needs to be sensed, and the sensing network element determines each first node that needs to perform sensing detection based on the sensing region.

[0151] Taking computing node #1 as an example, when the perceived target position perceived by computing node #1 is in the corresponding sub-region of computing node #2, computing node #1 sends the perceived detection data of the perceived target to computing node #2. After computing node #2 performs fusion processing on the perceived detection data of the perceived target, it reports the fused perceived result to the perception network element, and at the same time returns the fused perceived result to computing node #1. Computing node #1 does not need to report this data.

[0152] The first node corresponding to each sub-region only reports the perceived results within the sub-region it manages. For example, computing node #1 only reports the perceived results within sub-region #1. The perception network element splices the perceived results of each sub-region after obtaining them, so as to obtain the perceived result of the perception region corresponding to the perception requirement.

[0153] As Figure 6 shown, Figure 6 is an architecture diagram of a perception communication system 60 provided by an embodiment of the present disclosure, corresponding to the application scenario of cuboid sub-region division and single computing node.

[0154] Compared with Figure 3 the perception communication system 30 shown, Figure 6 in the perception communication system 60 shown, the number of computing nodes is larger, the number of perception nodes is smaller, and the number of sub-regions divided by the perception network element is larger. Others are similar to the perception communication system 30 and will not be elaborated here.

[0155] It should be noted that the embodiments of the present disclosure can be mutually borrowed or referenced. For example, the same or similar steps, method embodiments, system embodiments, and device embodiments can all be mutually referenced without limitation.

[0156] Figure 7 is a flowchart of a perception processing method provided by an embodiment of the present disclosure. As Figure 7 shown, the method includes the following steps:

[0157] Step 701, the perception network element receives multiple perception results from multiple first nodes.

[0158] Among them, each perception result represents the perception result within the sub-region managed by the corresponding first node. The first node corresponding to the sub-region is used to manage the perception nodes and computing nodes within the sub-region.

[0159] It should be noted that the coverage range of the perception network consists of multiple sub-regions. Among them, there is no uncovered area and no overlapping area between any two adjacent sub-regions. That is to say, the sub-regions in the present disclosure are seamlessly connected, there are no coverage holes between the sub-regions within the coverage range of the perception network, and there is no overlap between the sub-regions.

[0160] Exemplarily, the sub-region may be a standard polygon, such as a cuboid, a triangular prism, a hexagonal prism, etc. In this way, the sensing network element can define the position information of the sub-region based on the vertex coordinates of the standard polygon, such as shape, position, coverage range, etc., so as to facilitate seamless connection between sub-regions and facilitate segmentation of the sensing network.

[0161] Among them, the height of the sub-region can be set according to actual needs, for example, by setting the minimum height and the maximum height to determine the height of the sub-region.

[0162] The sub-region can also be divided in other ways to meet the coverage holes between sub-regions, and there is no overlap between sub-regions. The present disclosure does not limit this.

[0163] Exemplarily, the division of the sub-region in the present disclosure can be carried out in the horizontal dimension or in the vertical dimension.

[0164] In a possible implementation manner, the coverage range of the sensing network can be divided into multiple sub-regions in the horizontal dimension. The division method can refer to the above description.

[0165] In another possible implementation manner, the coverage range of the sensing network is divided into multiple layers in the vertical dimension, and each layer is divided into one or more sub-regions in the horizontal dimension. In this way, for service areas with some special terrains, signal sensing can also be performed according to the technical solution provided by the present disclosure, such as high-rise buildings like office buildings.

[0166] Step 702, the sensing network element determines the sensing result of the sensing area based on the sensing results in multiple sub-regions.

[0167] Among them, the sensing area includes multiple sub-regions.

[0168] In a possible implementation manner, the sensing network element can determine the sensing area according to the sensing requirements.

[0169] It should be noted that this sensing area has no direct relationship with the sub-regions divided from the coverage range of the sensing network. The sensing area is determined by the sensing network element according to the current specific requirements. When there is a sensing requirement, the sensing network element can determine the involved sensing area based on the sensing requirement. In this way, the sensing network element can instruct the first nodes corresponding to the multiple sub-regions covered by this sensing area to perform relevant sensing detection operations, so as to obtain the corresponding sensing results.

[0170] Based on the above technical solution, the present disclosure can divide the sensing network into regions by means of sensing grids. Since each sub-region corresponds to a first node, the sensing network element can obtain the sensing results within the corresponding sub-region from multiple first nodes involved, and determine the sensing result of the sensing region according to the sensing results of multiple sub-regions. In this way, the technical solution proposed by the present disclosure can flexibly perform sensing operations to cope with various communication, sensing, and computing scenarios, thereby improving the sensing effect.

[0171] Next, the process of the sensing network element instructing the first node to perform sensing detection will be introduced.

[0172] As a possible embodiment of the present disclosure, in combination with Figure 7 , as Figure 8 shown, before the above step 701, the method further includes the following steps:

[0173] Step 801: The sensing network element sends a first request message to multiple first nodes.

[0174] Among them, the first request message is used to request the first node to trigger the sensing nodes within the sub-region managed by the first node to perform sensing detection.

[0175] Exemplarily, when there is a transmission link between the first node and the sensing node, after receiving the first request message, the first node can directly instruct the sensing node to perform sensing detection.

[0176] When the first node establishes a connection with the sensing node through other computing nodes, the first node can instruct the sensing node to perform sensing detection through other computing nodes.

[0177] In a possible implementation manner, the sensing network element can also send a resource configuration message to multiple first nodes.

[0178] Among them, the resource configuration message is used to configure the sensing resources of the computing nodes and sensing nodes within the sub-region. For example, the sensing resources include signal resources in dimensions such as time domain, frequency domain, and beam, as well as signal transceiver mode configuration parameters.

[0179] Next, the process of the sensing network element performing region division will be introduced.

[0180] As a possible embodiment of the present disclosure, in combination with Figure 7 , as Figure 9 shown, the method further includes the following steps:

[0181] Step 901: The sensing network element obtains the coverage capabilities of each sensing node and the computing capabilities of each computing node within the sensing network.

[0182] Among them, the coverage ability of a sensing node refers to the maximum range within which the sensing node can perform target sensing. The stronger the coverage ability of the sensing node, the larger the range within which the sensing node can perform target sensing, and the larger the range of sub-regions that the sensing network element can divide. The stronger the computing ability of the computing node, the larger the amount of sensing detection data that the computing node can process, and the more sensing nodes that can be managed.

[0183] Step 902: The sensing network element divides the coverage range of the sensing network into multiple sub-regions based on the coverage ability of each sensing node and the computing ability of each computing node within the sensing network.

[0184] Among them, there is at least one computing node and at least one sensing node in each sub-region.

[0185] It should be noted that the present disclosure does not limit the execution order of steps 901 - 902 and the above steps 701 - 702. The sensing network element can perform the sub-region division operation during the initialization phase or during the sub-region change phase. For example Figure 9 As shown, when the sensing network element performs sub-region division during the initialization phase, the above steps 901 - 902 are executed before step 701. The above steps 901 - 902 can also be executed at any other time, and the present application does not limit this.

[0186] In addition, after performing sub-region division, the sensing network element can also allocate a first node to each sub-region.

[0187] As a possible embodiment of the present disclosure, in combination with Figure 9 , as Figure 10 shown, the method further includes the following steps:

[0188] Step 1001: When there is only one computing node in the sub-region, the sensing network element uses the computing node as the first node corresponding to the sub-region.

[0189] Step 1002: When there are multiple computing nodes in the sub-region, based on the location information of the multiple computing nodes, the sensing network element selects one computing node from the multiple computing nodes as the first node corresponding to the sub-region.

[0190] Exemplarily, the sensing network element can determine the transmission link distances between each computing node and the transmission link distances between the computing nodes and the sensing nodes, so as to determine the first node corresponding to the sub-region based on the transmission link distances, that is, select the computing node with relatively short transmission link distances both between other computing nodes and between the computing node and the sensing nodes as the first node, thereby ensuring data transmission efficiency.

[0191] Exemplarily, the sensing network element can also determine the coverage ranges of the sensing nodes connected to each computing node, and use the computing node with the largest overlapping area between the coverage range and the corresponding sub-region as the first node of the sub-region, thereby reducing the interaction requirements between computing nodes.

[0192] In a possible implementation, the sensing network element sends sub-region information to the first node corresponding to each sub-region.

[0193] Among them, the sub-region information includes the identifier of each sub-region and the range information of each sub-region.

[0194] Based on the above technical solution, when the sensing network is initialized or when the sensing network needs area update, the sensing network element can divide the sensing network into sub-regions and allocate corresponding first nodes to the divided sub-regions, so as to realize the flexible expansion and contraction of the sensing network to adapt to various sensing scenarios, thereby improving the sensing effect.

[0195] Figure 11 This is a flowchart of a sensing processing method provided by an embodiment of the present disclosure. As Figure 11 shown, the method includes the following steps:

[0196] Step 1101, the first node obtains the sensing detection data of the sensing nodes in the sub-region it manages.

[0197] Among them, the sensing detection data includes at least one of the following: the identifier of the sensing target, longitude and latitude information, height, distance, speed, acceleration, azimuth angle, pitch angle, type of the sensing target, signal strength of the sensing target, signal-to-noise ratio of the sensing target.

[0198] Exemplarily, when there is a transmission link between the first node and the sensing node, the first node can receive the sensing detection data of the sensing node.

[0199] When the first node establishes a connection with the sensing node through other computing nodes, the first node can obtain the sensing detection data of the sensing nodes connected to other computing nodes through other computing nodes.

[0200] In a possible implementation, after receiving the first request message sent by the sensing network element, the first node triggers the sensing nodes in the sub-region it manages to perform sensing detection.

[0201] Among them, the first request message is used to request the first node to trigger the sensing nodes in the sub-region managed by the first node to perform sensing detection.

[0202] Step 1102, when the sensing detection data indicates that the sensing target is located in the sub-region managed by the first node, the first node determines the sensing result of the sub-region based on the sensing detection data.

[0203] Since there may be overlapping coverage areas between sensing nodes, the first node may obtain multiple sensing detection data for the same sensing target. Therefore, after obtaining the sensing detection data, the first node can perform fusion processing on the sensing detection data to determine the sensing result of the sub-region. In this way, the first node can not only eliminate the ambiguity in the sensing result, but also improve the sensing accuracy performance.

[0204] It should be noted that since the coverage area of the sensing node has no direct connection with the division of the sub-region, the coverage area of the sensing node may cover other sub-regions. Therefore, the sensing target sensed by the first node may also be located in other sub-regions.

[0205] In a possible implementation manner, when the sensing detection data indicates that the sensing target is located in other sub-regions, the first node sends the sensing detection data to the first node corresponding to the other sub-region.

[0206] Exemplarily, the first node corresponding to the other sub-region reports to the sensing network element after performing data fusion processing on the sensing target, and at the same time returns the processed data information to the first node of the original sub-region. At this time, for the first node of the original sub-region, this first node can send the sensing result to the sensing network element within a preset time. In this way, the first node corresponding to the other sub-region can perform fusion processing based on the sensing detection data to improve the sensing accuracy.

[0207] Step 1103: The first node sends the sensing result to the sensing network element.

[0208] Based on the above technical solution, the first node in the present disclosure can obtain sensing detection data from the sensing nodes within the managed sub-region, process the sensing detection data, determine the sensing result of the sub-region, and send the sensing result to the sensing network element. In this way, the technical solution proposed in the present disclosure can flexibly perform sensing operations to cope with various communication-sensing-computation scenarios, thereby improving the sensing effect.

[0209] Next, the abnormal handling process of the first node will be introduced.

[0210] As a possible embodiment of the present disclosure, in combination with 11, as Figure 12 shown, the method further includes the following steps:

[0211] Step 1201: When the first node has an abnormality, the first node sends an abnormal alarm message to the sensing network element.

[0212] Among them, the abnormal alarm message is used to indicate that the sub-region corresponding to the first node is an invalid region.

[0213] In a possible implementation, when a sensing node in the sub-region corresponding to the first node has an abnormality, the first node takes the coverage area corresponding to the sensing node as an invalid area. The first node can also report the abnormal alarm information to the sensing network element.

[0214] It should be noted that when an abnormal situation occurs and the first node cannot work properly, it can be determined whether there is computing power redundancy in the first nodes of adjacent sub-regions. When there is no computing power redundancy, the first node can send an abnormal alarm message to the sensing network element, thereby indicating that the sub-region managed by the first node is an invalid area.

[0215] As a possible embodiment of the present disclosure, as shown in FIG. 11, Figure 13 the method further includes the following steps:

[0216] Step 1301: When the first node has an abnormality, send a second request message to an adjacent first node.

[0217] Wherein, the second request message is used to request the adjacent first node to assist in managing the sub-region corresponding to the first node.

[0218] When there is computing power redundancy in the first node of the adjacent sub-region, the first node can send a request message to the adjacent first node to request the adjacent first node to assist in managing the sub-region corresponding to the first node. At this time, the adjacent first node can establish a transmission link with other computing nodes and sensing nodes in the sub-region, and uniformly process the sensing tasks of the sub-region and its own corresponding sub-region.

[0219] Exemplarily, the sensing network element can also re-divide the sub-regions after changes occur to the sensing nodes and computing nodes deployed in the sensing network. After the sub-region division is completed, each first node re-obtains the sub-region information to facilitate the execution of sensing detection operations.

[0220] When an adjacent first node has an abnormality, the first node can also assist the adjacent first node in managing the corresponding sub-region based on the above method.

[0221] In a possible implementation, when an adjacent first node has an abnormality, the adjacent first node sends a third request message to the first node. Correspondingly, the first node receives the third request message sent by the adjacent first node.

[0222] Wherein, the third request message is used to request the first node to assist in managing the sub-region corresponding to the adjacent first node.

[0223] The first node determines a target perception result based on the perception detection data of the perception nodes in the sub-region corresponding to the first node and the sub-regions corresponding to adjacent first nodes, and sends the target perception result to the perception network element. Correspondingly, the perception network element receives the target perception result sent by the first node. In this way, even if an adjacent first node has an abnormality, the perception network element can still normally obtain the data in its sub-region to achieve target perception.

[0224] In a possible implementation, the first node receives the sub-region information sent by the perception network element.

[0225] Among them, the sub-region information includes the identifiers of each sub-region and the range information of each sub-region.

[0226] Based on the above technical solution, after an abnormality occurs in the first node, it can report the abnormality information to the perception network element, or request an adjacent first node to assist in managing the sub-region corresponding to the first node, so as to avoid affecting the target perception and ensure the normal execution of the target perception.

[0227] It can be understood that in order for the communication device to implement the above functions, it 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 algorithm steps of each example described in the embodiments of the present disclosure, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form 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 disclosure.

[0228] The embodiments of the present disclosure can divide the communication device into function modules according to the above method embodiments. For example, each function module can be divided corresponding to each function, or two or more functions can be integrated into one function module. The above integrated module can be implemented in the form of hardware or software. It should be noted that the division of modules in the embodiments of the present disclosure is illustrative, only a logical function division, and there may be other division methods in actual implementation. The following takes the case of dividing each function module corresponding to each function as an example for description.

[0229] For example, taking the communication device as the perception network element in the above method embodiment, Figure 14 is a structural diagram of a perception network element provided by the embodiments of the present disclosure. The perception network element can execute the perception processing method provided by the above method embodiment. As Figure 14 shown, the perception network element 140 includes: a processing unit 1401 and a communication unit 1402.

[0230] The communication unit 1402 is configured to receive multiple sensing results from multiple first nodes, and each sensing result represents the sensing result within the sub-region managed by the corresponding first node.

[0231] The processing unit 1401 is configured to determine the sensing result of the sensing region based on the sensing results within multiple sub-regions, and the sensing region includes multiple sub-regions.

[0232] In some embodiments, the first node corresponding to the sub-region is configured to manage the sensing nodes and computing nodes within the sub-region.

[0233] In some embodiments, the communication unit 1402 is configured to send a first request message to multiple first nodes, and the first request message is used to request the first node to trigger the sensing nodes within the sub-region managed by the first node to perform sensing detection.

[0234] In some embodiments, the communication unit 1402 is configured to obtain the coverage capabilities of the sensing nodes within the sensing network and the computing capabilities of the computing nodes; the processing unit 1401 is configured to divide the coverage range of the sensing network into multiple sub-regions based on the coverage capabilities of the sensing nodes within the sensing network and the computing capabilities of the computing nodes, and there is at least one computing node and at least one sensing node within each sub-region.

[0235] In some embodiments, when there is only one computing node within the sub-region, the processing unit 1401 uses the computing node as the first node corresponding to the sub-region; when there are multiple computing nodes within the sub-region, the processing unit 1401 selects one computing node from the multiple computing nodes as the first node corresponding to the sub-region based on the location information of the multiple computing nodes.

[0236] In some embodiments, the communication unit 1402 is configured to send sub-region information to the first node corresponding to each sub-region, and the sub-region information includes the identifier of each sub-region and the range information of each sub-region.

[0237] In some embodiments, there is no uncovered region and no overlapping region between any two adjacent sub-regions.

[0238] In some embodiments, the coverage range of the sensing network is divided into multiple sub-regions in the horizontal dimension.

[0239] In some embodiments, the coverage range of the sensing network is divided into multiple layers in the vertical dimension, and each layer is divided into one or more sub-regions in the horizontal dimension.

[0240] Taking the sensing communication device as the first node in the above method embodiments as an example, Figure 15 is a structural diagram of a first node provided by an embodiment of the present disclosure, and the first node can execute the sensing processing method provided by the above method embodiments. AsFigure 15 As shown in Figure 15 , the first node 150 includes: a processing unit 1501 and a communication unit 1502. The communication unit 1502 is configured to obtain the sensing detection data of the sensing nodes within the managed sub-region.

[0241] The processing unit 1501 is configured to determine the sensing result of the sub-region based on the sensing detection data when the sensing detection data indicates that the sensing target is within the sub-region managed by the first node.

[0242] The communication unit 1502 is configured to send the sensing result to the sensing network element.

[0243] In some embodiments, the communication unit 1502 is configured to send the sensing detection data to the corresponding first node of other sub-regions when the sensing detection data indicates that the sensing target is within other sub-regions.

[0244] In some embodiments, the communication unit 1502 is configured to send the sensing result to the sensing network element within a preset time.

[0245] In some embodiments, the sensing detection data includes at least one of the following: the identifier of the sensing target, longitude and latitude information, altitude, distance, speed, acceleration, azimuth angle, pitch angle, the type of the sensing target, the signal strength of the sensing target, and the signal-to-noise ratio of the sensing target.

[0246] In some embodiments, the communication unit 1502 is configured to send an exception warning message to the sensing network element when an exception occurs in the first node.

[0247] In some embodiments, the communication unit 1502 is configured to send a second request message to an adjacent first node when an exception occurs in the first node. The second request message is used to request the adjacent first node to assist in managing the sub-region corresponding to the first node.

[0248] In some embodiments, the communication unit 1502 is configured to receive a third request message sent by an adjacent first node; the third request message is used to request the first node to assist in managing the sub-region corresponding to the adjacent first node; the processing unit 1501 is configured to determine a target sensing result based on the sensing detection data of the sensing nodes within the sub-region corresponding to the first node and the sub-region corresponding to the adjacent first node; the communication unit 1502 is configured to send the target sensing result to the sensing network element.

[0249] In some embodiments, the communication unit 1502 is configured to receive the sub-region information sent by the sensing network element. The sub-region information includes the identifiers of the sub-regions and the range information of the sub-regions.

[0250] In the case of implementing the functions of the above integrated modules in the form of hardware, an exemplary structure of the communication device involved in the above embodiments is provided by the embodiments of the present disclosure. AsFigure 16 As shown, the communication device 160 includes: a processor 1602 and a bus 1604. Optionally, the communication device 160 may further include a memory 1601; optionally, the communication device 160 may further include a communication interface 1603.

[0251] The processor 1602 may be a device that implements or executes various exemplary logical blocks, modules, and circuits described in connection with the embodiments of the present disclosure. The processor 1602 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It may implement or execute various exemplary logical blocks, modules, and circuits described in connection with the embodiments of the present disclosure. The processor 1602 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0252] The communication interface 1603 is used to connect to other devices through a communication network. The communication network may be an Ethernet, a radio access network, a wireless local area network (WLAN), etc.

[0253] The memory 1601 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM), or other type of dynamic storage device that can store information and instructions. It may also be an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium, or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0254] As a possible implementation, the memory 1601 may exist independently of the processor 1602. The memory 1601 may be connected to the processor 1602 through the bus 1604 and is used to store instructions or program code. When the processor 1602 calls and executes the instructions or program code stored in the memory 1601, it can implement the perception processing method provided by the embodiments of the present disclosure.

[0255] In another possible implementation, the memory 1601 may also be integrated with the processor 1602.

[0256] The bus 1604 can be an extended industry standard architecture (EISA) bus or the like. The bus 1604 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 16 only a thick line is used to represent it in Figure 16 , but it does not mean that there is only one bus or one type of bus.

[0257] Some embodiments of the present disclosure provide a computer-readable storage medium (for example, a non-transitory computer-readable storage medium), in which computer program instructions are stored. When the computer program instructions run on a computer, the computer is made to execute the perception processing method described in any one of the above embodiments.

[0258] Exemplarily, the above computer-readable storage medium may include, but is not limited to: magnetic storage devices (such as hard disks, floppy disks, or magnetic tapes, etc.), optical discs (such as Compact Disks (CDs), Digital Versatile Disks (DVDs), etc.), smart cards, and flash memory devices (such as Erasable Programmable Read-Only Memories (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in the present disclosure may represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0259] The embodiments of the present disclosure provide a computer program product containing instructions. When the computer program product runs on a computer, the computer is made to execute the perception processing method described in any one of the above embodiments.

[0260] As described above, it is only the specific implementation manners of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present disclosure should be covered by the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A perception processing method, characterized in that Including: Receiving multiple perception results from multiple first nodes, each of the perception results characterizing the perception result within the sub-region managed by the corresponding first node; Determining the perception result of the perception region based on the perception results within the multiple sub-regions, where the perception region includes the multiple sub-regions.

2. The method according to claim 1, characterized in that, The first node corresponding to the sub-region is used to manage the perception nodes and computing nodes within the sub-region.

3. The method according to claim 1, wherein Before the receiving the multiple perception results from the multiple first nodes, the method further includes: Sending a first request message to the multiple first nodes, where the first request message is used to request the first nodes to trigger the perception nodes within the sub-regions managed by the first nodes to perform perception detection.

4. The method according to claim 1, characterized in that The method further includes: Obtaining the coverage capabilities of the perception nodes within the perception network and the computing capabilities of the computing nodes; Based on the coverage capabilities of the perception nodes within the perception network and the computing capabilities of the computing nodes, dividing the coverage range of the perception network into multiple sub-regions, where there is at least one computing node and at least one perception node within each of the sub-regions.

5. The method according to claim 4, characterized in that The method further includes: In the case where there is only one computing node within the sub-region, using the computing node as the first node corresponding to the sub-region; In the case where there are multiple computing nodes within the sub-region, based on the location information of the multiple computing nodes, selecting one computing node from the multiple computing nodes as the first node corresponding to the sub-region.

6. The method according to claim 1, characterized in that, The method further includes: Sending sub-region information to the first node corresponding to each sub-region, where the sub-region information includes the identifier of each sub-region and the range information of each sub-region.

7. The method according to claim 1, wherein There is no uncovered region and no overlapping region between any two adjacent sub-regions.

8. The method according to claim 1, characterized in that, The coverage range of the perception network is divided into multiple sub-regions in the horizontal dimension.

9. The method according to claim 1, wherein The coverage range of the perception network is divided into multiple layers in the vertical dimension, and each layer is divided into one or more sub-regions in the horizontal dimension.

10. A perception processing method, characterized in that, Applied to the first node, the method includes: Obtaining the perception detection data of the perception nodes within the managed sub-region; In the case where the perception detection data characterizes that the perception target is within the sub-region managed by the first node, determining the perception result of the sub-region based on the perception detection data; Sending the perception result to the perception network element.

11. The method according to claim 10, wherein The method further includes: In the case where the perception detection data characterizes that the perception target is within other sub-regions, sending the perception detection data to the first node corresponding to the other sub-regions.

12. The method according to claim 11, characterized in that, The method further includes: Sending the perception result to the perception network element within a preset time.

13. The method according to claim 11, wherein The perception detection data includes at least one of the following: the identifier of the perception target, longitude and latitude information, height, distance, speed, acceleration, azimuth angle, pitch angle, the type of the perception target, the signal strength of the perception target, the signal-to-noise ratio of the perception target.

14. The method according to claim 10, wherein The method further includes: In the case where the first node has an abnormality, sending abnormal alarm information to the perception network element.

15. The method according to claim 10, wherein The method further includes: In the case of an exception occurring in the first node, send a second request message to an adjacent first node, where the second request message is used to request the adjacent first node to assist in managing the sub-region corresponding to the first node.

16. The method according to claim 10, wherein The method further includes: Receiving a third request message sent by an adjacent first node; the third request message is used to request the first node to assist in managing the sub-region corresponding to the adjacent first node; Determining a target perception result based on the perception detection data of the perception nodes within the sub-region corresponding to the first node and the sub-region corresponding to the adjacent first node; Sending the target perception result to the perception network element.

17. The method according to claim 10, wherein The method further includes: Receiving the sub-region information sent by the perception network element, where the sub-region information includes the identifiers of each sub-region and the range information of each sub-region.

18. A perception communication system, characterized in that, Includes: A first node, configured to determine the perception result of the managed sub-region; Sending the perception result to the perception network element; The perception network element is configured to receive multiple perception results from multiple first nodes; based on the perception results within multiple sub-regions, determine the perception result of the perception region, where the perception region includes the multiple sub-regions.

19. A communication device, characterized in that, Includes a memory and a processor; the memory and the processor are coupled; the memory is used to store instructions executable by the processor; when the processor executes the instructions, it executes the method according to any one of claims 1 to 9, or the method according to any one of claims 10 to 17.

20. A computer-readable storage medium, characterized in that, Includes a memory and a processor; the memory and the processor are coupled; the memory is used to store instructions executable by the processor; when the processor executes the instructions, it executes the method according to any one of claims 1 to 9, or the method according to any one of claims 10 to 17.

Images