Perception method, communication device and storage medium

Abstract

The invention provides a sensing method and device and a storage medium, the method is applied to a first network device, and the method comprises the following steps: executing target sensing measurement to obtain a value of a first sensing parameter of a sensing target; matching and grouping the sensing targets based on the values of the first sensing parameters of the sensing targets, and determining the value of a second sensing parameter of each group; and / or, the value of the first sensing parameter of the sensing target is sent to a sensing server, and the value of the first sensing parameter of the sensing target is used for matching and grouping the sensing target by the sensing server and determining the value of the second sensing parameter of each group. The target sensing accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a perception method, communication equipment and storage medium. Background Art

[0002] In the evolution of New Radio (NR) technology, Integrated Sensing and Communication (ISAC) is a key candidate for evolution. Its fundamental concept is to introduce wireless sensing capabilities into wireless mobile communications. Wireless sensing involves sensing environmental information through wireless signals. This information includes the distribution, size, quantity, and temperature of objects, human movements and behavior, and even breathing rate and heart rate. Wireless sensing works by transmitting a radio signal (sensing signal) to the environment to be sensed at the sensing transmitter. The sensing receiver collects the wireless signal (reflected signal) after it has been reflected, scattered, and transmitted through multiple paths. Because the collected wireless signal has been subjected to the environment, it carries environmental information. After receiving the reflected signal, signal processing is performed to detect environmental characteristics and reconstruct the perceived environment. For example, it can identify people and objects in the environment, measure temperature, detect human movements, and even detect breathing rate and heart rate. It has a wide range of applications.

[0003] Depending on the implementation of ISAC, perception modes can be categorized as single-base, dual-base, or hybrid (single-base + dual-base). A transmitter sends a perception signal, while a receiver receives it (which can be understood as the reflection of the transmitter's perception signal after it passes through an object in the environment). The receiver uses the received perception signal to perceive the target. However, during the perception process, the receiver may receive multiple reflected perception signals, or multiple receivers may receive the reflected perception signal. This allows for the perception of multiple targets, but these perceived targets may contain the same target, resulting in low target perception accuracy. Summary of the Invention

[0004] The embodiments of the present application provide a perception method, a communication device, and a storage medium to solve the problem of low target perception accuracy.

[0005] This embodiment of the present application provides a sensing method, applied to a first network device, the method comprising:

[0006] Performing target perception measurement to obtain a value of a first perception parameter of the perceived target;

[0007] Based on the value of the first perception parameter of the perception target, the perception target is matched and grouped, and the value of the second perception parameter of each group is determined; and / or, the value of the first perception parameter of the perception target is sent to the perception server, and the value of the first perception parameter of the perception target is used for: the perception server matches and groups the perception target, and determines the value of the second perception parameter of each group.

[0008] In some embodiments, performing target perception measurement to obtain a value of a first perception parameter of the perceived target includes:

[0009] Target perception measurement is performed based on the first perception configuration information to obtain a value of a first perception parameter of the perception target.

[0010] In some embodiments, before performing the target perception measurement, the method further includes:

[0011] Receive the first perception configuration information sent by the perception server.

[0012] In some embodiments, the receiving the first perception configuration information sent by the perception server includes:

[0013] Receive the first perception configuration information sent by the perception server via unicast, multicast or broadcast.

[0014] In some embodiments, the first perception configuration information is sent by the perception server in a unicast manner, wherein the first perception configuration information is used to configure at least one of the following:

[0015] a perception type of the first network device;

[0016] the first perception parameter;

[0017] the second perception parameter;

[0018] The resource for sending the perception signal by the first network device;

[0019] The resource for receiving the reflected signal by the first network device;

[0020] first information used by the first network device to perform target matching grouping;

[0021] The first network device sends a resource of the value of the first perception parameter;

[0022] The first network device sends a resource of the value of the second perception parameter.

[0023] In some embodiments, the first perception configuration information is sent by the perception server via multicast or broadcast, wherein the first perception configuration information is used to configure at least one of the following:

[0024] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the network devices participating in sensing include the first network device;

[0025] Resources of the network devices participating in the perception for sending perception signals and / or receiving reflected signals;

[0026] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0027] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0028] the first perception parameter;

[0029] the second perception parameter;

[0030] The first information is used by the participating perception network device to perform target matching grouping.

[0031] In some embodiments, the first perception parameter includes at least one of the following:

[0032] Sending signal beam information;

[0033] Receive signal beam information;

[0034] distance or location coordinates;

[0035] velocity or Doppler shift;

[0036] echo angle;

[0037] echo received power;

[0038] Echo signal energy;

[0039] Echo multipath delay;

[0040] Material type;

[0041] Echo power attenuation level;

[0042] Section type.

[0043] In some embodiments, the second perception parameter includes at least one of the following:

[0044] distance;

[0045] speed;

[0046] angle;

[0047] The number of detected objects. The perception targets in the same group correspond to the same object.

[0048] In some embodiments, sending the value of the first perception parameter of the perception target to the perception server includes:

[0049] Sending second information to the perception server, where the second information includes a list of first information of each perception target in the perception targets;

[0050] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[0051] In some embodiments, the second information further includes the number of perception targets, where the number of perception targets is the number of the perception targets.

[0052] In some embodiments, the targets in the same group correspond to the same object, and the value of the second perception parameter of each group represents the value of the second perception parameter of the corresponding object;

[0053] After matching and grouping the perception targets based on the value of the first perception parameter of the perception target and determining the value of the second perception parameter of each group, the method further includes:

[0054] The value of the second perception parameter of each group is sent to the perception server.

[0055] In some embodiments, sending the value of the second perception parameter of each packet to the perception server includes:

[0056] Sending third information to the perception server, wherein the third information includes a second information list of objects corresponding to each group, and each second information list includes an identifier of the corresponding object and a value of a second perception parameter of the corresponding object.

[0057] In some embodiments, matching and grouping the perception targets based on the value of the first perception parameter of the perception targets includes:

[0058] The perception targets are matched and grouped based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information.

[0059] In some embodiments, the first information includes at least one of the following:

[0060] Minimum resolution distance;

[0061] Minimum resolution speed;

[0062] Echo receive power difference threshold;

[0063] Echo signal energy difference threshold;

[0064] Echo multipath delay reference set;

[0065] Material type reference collection;

[0066] Echo power attenuation level reference set;

[0067] A reference collection of section types.

[0068] In some embodiments, the first perception parameter includes a first portion of perception parameters and a second portion of perception parameters, and the first information includes a first portion of information and a second portion of information;

[0069] The matching and grouping the perception targets based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information includes:

[0070] For each target in the perception targets, weighting the value of each parameter in the first part of the perception parameters of the target to obtain a first target characteristic value of each parameter, and / or calculating a weighted sum of the values of the third perception parameter of the target to obtain a second target characteristic value of the target;

[0071] For every two targets among the perceived targets, calculate the first difference between the first target characteristic values of the first part of the perception parameters of the two targets, and match and group the perceived targets based on the first difference between every two targets among the perceived targets and the first part of the information; and / or calculate the second difference between the second target characteristic values of the two targets, and match and group the perceived targets based on the second difference between every two targets among the perceived targets and the first part of the information.

[0072] In some embodiments, matching and grouping the perception targets based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information includes:

[0073] For every two targets in the perception targets, if the values of the second part of the perception parameters of the two targets belong to the second part of the information and the values of the second part of the perception parameters between the two targets match, the two targets are divided into the same group.

[0074] The present invention provides a perception method, which is applied to a perception server. The method includes:

[0075] Receive values of first perception parameters of M perception targets sent by N network devices, match and group the M perception targets based on the values of the first perception parameters of the M perception targets, and determine the value of the second perception parameter of each group, where N is a positive integer, M is a positive integer, the N network devices include the first network device, and the M perception targets include perception targets determined by each of the N network devices performing target perception measurement.

[0076] In some embodiments, before receiving the values of the first perception parameters of the M perception targets sent by the N network devices, the method further includes:

[0077] The corresponding perception configuration information is sent to each of the N network devices through unicast, multicast or broadcast. The perception configuration information corresponding to the network device is used by the network device to perform target perception measurement. The perception configuration information corresponding to the first network device is the first perception configuration information.

[0078] In some embodiments, the perception configuration information is sent by the perception server via unicast, wherein the perception configuration information corresponding to the network device is used to configure at least one of the following:

[0079] the perception type of the network device;

[0080] the first perception parameter;

[0081] the second perception parameter;

[0082] The resource for the network device to send the perception signal;

[0083] The resource of the network device receiving the reflected signal;

[0084] First information for target matching grouping;

[0085] The network device sends a resource of the value of the first perception parameter;

[0086] The network device sends a resource of the value of the second perception parameter.

[0087] In some embodiments, the perception configuration information is sent by the perception server via multicast or broadcast, wherein the perception configuration information is used to configure at least one of the following:

[0088] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the N network devices belong to the network devices participating in sensing;

[0089] Resources of the network devices participating in the perception for sending and / or receiving perception signals;

[0090] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0091] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0092] the first perception parameter;

[0093] the second perception parameter;

[0094] The first information used for the target matching group.

[0095] In some embodiments, the first perception parameter includes at least one of the following:

[0096] Send signal beam information;

[0097] Receive signal beam information;

[0098] distance or location coordinates;

[0099] velocity or Doppler shift;

[0100] echo angle;

[0101] echo received power;

[0102] Echo signal energy;

[0103] Echo multipath delay;

[0104] Material type;

[0105] Echo power attenuation level;

[0106] Section type.

[0107] In some embodiments, the second perception parameter includes at least one of the following:

[0108] distance;

[0109] speed;

[0110] angle;

[0111] The number of detected objects. The perception targets in the same group correspond to the same object.

[0112] In some embodiments, receiving a value of a first sensing parameter of a sensing target sent by a first network device includes:

[0113] receiving second information sent by the first network device, where the second information includes a first information list of each perception target among the perception targets determined by the first network device through target perception measurement;

[0114] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[0115] In some embodiments, the second information further includes the number of perception targets, where the number of perception targets is the number of perception targets determined by the first network device performing target perception measurement.

[0116] In some embodiments, matching and grouping the M perception targets based on the values of the first perception parameters of the M perception targets includes:

[0117] The M perception targets are matched and grouped based on the values of the first perception parameters of the M perception targets and the first information, where the first information is used for target matching grouping.

[0118] In some embodiments, the first information includes at least one of the following:

[0119] Minimum resolution distance;

[0120] Minimum resolution speed;

[0121] Echo receive power difference threshold;

[0122] Echo signal energy difference threshold;

[0123] Echo multipath delay type reference set;

[0124] Material type reference collection;

[0125] Echo power attenuation level reference set;

[0126] A reference collection of section types.

[0127] An embodiment of the present application provides a communication device, including: a memory, a transceiver, and a processor, wherein:

[0128] The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; and the processor is used to read the computer program in the memory and perform the following operations:

[0129] Performing target perception measurement to obtain a value of a first perception parameter of the perceived target;

[0130] Based on the value of the first perception parameter of the perception target, the perception target is matched and grouped, and the value of the second perception parameter of each group is determined; and / or, the value of the first perception parameter of the perception target is sent to the perception server, and the value of the first perception parameter of the perception target is used for: the perception server matches and groups the perception target, and determines the value of the second perception parameter of each group.

[0131] In some embodiments, the processor is configured to read the computer program in the memory and specifically perform the following operations:

[0132] Target perception measurement is performed based on the first perception configuration information to obtain a value of a first perception parameter of the perception target.

[0133] In some embodiments, the processor, configured to read the computer program in the memory, further performs the following operations:

[0134] Before performing the target perception measurement, the first perception configuration information sent by the perception server is received.

[0135] In some embodiments, the receiving the first perception configuration information sent by the perception server includes:

[0136] Receive the first perception configuration information sent by the perception server via unicast, multicast or broadcast.

[0137] In some embodiments, the first perception configuration information is sent by the perception server in a unicast manner, wherein the first perception configuration information is used to configure at least one of the following:

[0138] a perception type of the first network device;

[0139] the first perception parameter;

[0140] the second perception parameter;

[0141] The resource for sending the perception signal by the first network device;

[0142] The resource for receiving the reflected signal by the first network device;

[0143] first information used by the first network device to perform target matching grouping;

[0144] The first network device sends a resource of the value of the first perception parameter;

[0145] The first network device sends a resource of the value of the second perception parameter.

[0146] In some embodiments, the first perception configuration information is sent by the perception server via multicast or broadcast, wherein the first perception configuration information is used to configure at least one of the following:

[0147] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the network devices participating in sensing include the first network device;

[0148] Resources of the network devices participating in the perception for sending perception signals and / or receiving reflected signals;

[0149] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0150] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0151] the first perception parameter;

[0152] the second perception parameter;

[0153] The first information is used by the participating perception network device to perform target matching grouping.

[0154] In some embodiments, the first perception parameter includes at least one of the following:

[0155] Send signal beam information;

[0156] Receive signal beam information;

[0157] distance or location coordinates;

[0158] velocity or Doppler shift;

[0159] echo angle;

[0160] echo received power;

[0161] Echo signal energy;

[0162] Echo multipath delay;

[0163] Material type;

[0164] Echo power attenuation level;

[0165] Section type.

[0166] In some embodiments, the second perception parameter includes at least one of the following:

[0167] distance;

[0168] speed;

[0169] angle;

[0170] The number of detected objects. The perception targets in the same group correspond to the same object.

[0171] In some embodiments, sending the value of the first perception parameter of the perception target to the perception server includes:

[0172] Sending second information to the perception server, where the second information includes a list of first information of each perception target in the perception targets;

[0173] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[0174] In some embodiments, the second information further includes the number of perception targets, where the number of perception targets is the number of the perception targets.

[0175] In some embodiments, the targets in the same group correspond to the same object, and the value of the second perception parameter of each group represents the value of the second perception parameter of the corresponding object;

[0176] After matching and grouping the perception targets based on the value of the first perception parameter of the perception target and determining the value of the second perception parameter of each group, the method further includes:

[0177] The value of the second perception parameter of each group is sent to the perception server.

[0178] In some embodiments, sending the value of the second perception parameter of each packet to the perception server includes:

[0179] Sending third information to the perception server, wherein the third information includes a second information list of objects corresponding to each group, and each second information list includes an identifier of the corresponding object and a value of a second perception parameter of the corresponding object.

[0180] In some embodiments, the processor is configured to read the computer program in the memory and specifically perform the following operations:

[0181] The perception targets are matched and grouped based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information.

[0182] In some embodiments, the first information includes at least one of the following:

[0183] Minimum resolution distance;

[0184] Minimum resolution speed;

[0185] Echo receive power difference threshold;

[0186] Echo signal energy difference threshold;

[0187] Echo multipath delay reference set;

[0188] Material type reference collection;

[0189] Echo power attenuation level reference set;

[0190] A reference collection of section types.

[0191] In some embodiments, the first perception parameter includes a first portion of perception parameters and a second portion of perception parameters, and the first information includes a first portion of information and a second portion of information;

[0192] The processor is configured to read the computer program in the memory and specifically perform the following operations:

[0193] For each target in the perception targets, weighting the value of each parameter in the first part of the perception parameters of the target to obtain a first target characteristic value of each parameter, and / or calculating a weighted sum of the values of the third perception parameter of the target to obtain a second target characteristic value of the target;

[0194] For every two targets among the perceived targets, calculate the first difference between the first target characteristic values of the first part of the perception parameters of the two targets, and match and group the perceived targets based on the first difference between every two targets among the perceived targets and the first part of the information; and / or calculate the second difference between the second target characteristic values of the two targets, and match and group the perceived targets based on the second difference between every two targets among the perceived targets and the first part of the information.

[0195] In some embodiments, the processor is configured to read the computer program in the memory and specifically perform the following operations:

[0196] For every two targets in the perception targets, if the values of the second part of the perception parameters of the two targets belong to the second part of the information and the values of the second part of the perception parameters between the two targets match, the two targets are divided into the same group.

[0197] An embodiment of the present application provides a communication device, including: a memory, a transceiver, and a processor, wherein:

[0198] The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; and the processor is used to read the computer program in the memory and perform the following operations:

[0199] Receive values of first perception parameters of M perception targets sent by N network devices, match and group the M perception targets based on the values of the first perception parameters of the M perception targets, and determine the value of the second perception parameter of each group, where N is a positive integer, M is a positive integer, the N network devices include the first network device, and the M perception targets include perception targets determined by each of the N network devices performing target perception measurement.

[0200] In some embodiments, before receiving the values of the first sensing parameters of the M sensing targets sent by the N network devices, the processor, configured to read the computer program in the memory, further performs the following operations:

[0201] The corresponding perception configuration information is sent to each of the N network devices through unicast, multicast or broadcast. The perception configuration information corresponding to the network device is used by the network device to perform target perception measurement. The perception configuration information corresponding to the first network device is the first perception configuration information.

[0202] In some embodiments, the perception configuration information is sent by the perception server via unicast, wherein the perception configuration information corresponding to the network device is used to configure at least one of the following:

[0203] the perception type of the network device;

[0204] the first perception parameter;

[0205] the second perception parameter;

[0206] The resource for the network device to send the perception signal;

[0207] The resource of the network device receiving the reflected signal;

[0208] First information for target matching grouping;

[0209] The network device sends a resource of the value of the first perception parameter;

[0210] The network device sends a resource of the value of the second perception parameter.

[0211] In some embodiments, the perception configuration information is sent by the perception server via multicast or broadcast, wherein the perception configuration information is used to configure at least one of the following:

[0212] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the N network devices belong to the network devices participating in sensing;

[0213] Resources of the network devices participating in the perception for sending and / or receiving perception signals;

[0214] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0215] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0216] the first perception parameter;

[0217] the second perception parameter;

[0218] The first information used for the target matching group.

[0219] In some embodiments, the first perception parameter includes at least one of the following:

[0220] Sending signal beam information;

[0221] Receive signal beam information;

[0222] distance or location coordinates;

[0223] velocity or Doppler shift;

[0224] echo angle;

[0225] echo received power;

[0226] Echo signal energy;

[0227] Echo multipath delay;

[0228] Material type;

[0229] Echo power attenuation level;

[0230] Section type.

[0231] In some embodiments, the second perception parameter includes at least one of the following:

[0232] distance;

[0233] speed;

[0234] angle;

[0235] The number of detected objects. The perception targets in the same group correspond to the same object.

[0236] In some embodiments, receiving a value of a first sensing parameter of a sensing target sent by a first network device includes:

[0237] Receiving second information sent by the first network device, where the second information includes a first information list of each perception target among the perception targets determined by the first network device through target perception measurement;

[0238] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[0239] In some embodiments, the second information further includes the number of perception targets, where the number of perception targets is the number of perception targets determined by the first network device performing target perception measurement.

[0240] In some embodiments, matching and grouping the M perception targets based on the values of the first perception parameters of the M perception targets includes:

[0241] The M perception targets are matched and grouped based on the values of the first perception parameters of the M perception targets and the first information, where the first information is used for target matching grouping.

[0242] In some embodiments, the first information includes at least one of the following:

[0243] Minimum resolution distance;

[0244] Minimum resolution speed;

[0245] Echo receive power difference threshold;

[0246] Echo signal energy difference threshold;

[0247] Echo multipath delay type reference set;

[0248] Material type reference collection;

[0249] Echo power attenuation level reference set;

[0250] A reference collection of section types.

[0251] An embodiment of the present application provides a processor-readable storage medium, which stores a computer program. The computer program is used to enable the processor to execute the above-mentioned perception method provided by the embodiment of the present application.

[0252] An embodiment of the present application provides a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the above-mentioned perception method.

[0253] In this embodiment, since the perception targets determined by performing target perception measurement may be the same target, and different targets can be distinguished and the same target can be identified, after performing target perception measurement to obtain the value of the first perception parameter of the perception target, the value of the first perception parameter of the perception target can be used to match and group the perception targets. In this way, unmatched targets can be divided into different groups, matched targets can be divided into the same group, and the value of the second perception parameter of each group can be determined. In this way, the accuracy of target perception can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0254] Figure 1 It is a schematic diagram of the network architecture applicable to the implementation of this application;

[0255] Figure 2 This is one of the schematic diagrams of a perception method provided in an embodiment of the present application;

[0256] Figure 3 This is a second schematic diagram of a sensing method provided in an embodiment of the present application;

[0257] Figure 4 This is one of the schematic diagrams of a perception mode provided in an embodiment of the present application;

[0258] Figure 5 This is a second schematic diagram of a perception mode provided in an embodiment of the present application;

[0259] Figure 6 This is the third schematic diagram of a perception mode provided in an embodiment of the present application;

[0260] Figure 7 This is a fourth schematic diagram of a perception mode provided in an embodiment of the present application;

[0261] Figure 8 This is a fifth schematic diagram of a perception mode provided in an embodiment of the present application;

[0262] Figure 9 This is the sixth schematic diagram of a perception mode provided in an embodiment of the present application;

[0263] Figure 10 This is the seventh schematic diagram of a perception mode provided in an embodiment of the present application;

[0264] Figure 11 This is a structural diagram of a communication device provided in an embodiment of the present application;

[0265] Figure 12 is a structural diagram of another communication device provided in an embodiment of the present application;

[0266] Figure 13 This is a module diagram of a communication device provided in an embodiment of the present application;

[0267] Figure 14 This is a module diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0268] In order to make the technical problems, technical solutions and advantages to be solved by this application clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0269] In the embodiments of this application, the term "and / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0270] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0271] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0272] The embodiments of the present application provide a sensing method, a communication device, and a storage medium to solve the problem of poor availability of a codebook.

[0273] Among them, the method and the device are based on the same application concept. Since the principles of solving problems by the method and the device are similar, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0274] The technical solution provided in the embodiment of the present application can be applicable to a variety of systems, especially 6G systems. For example, the applicable system can be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, a long term evolution (LTE) system, a LTE frequency division duplex (FDD) system, a LTE time division duplex (TDD) system, an advanced long term evolution (LTE-A) system, a universal mobile telecommunication system (UMTS), a world-wide interoperability for microwave access (WiMAX) system, a 5G new air interface (NR) system, a 6G system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0275] See Figure 1 , Figure 1 This is a schematic diagram of the network architecture that can be applied to the implementation of this application. Figure 1 As shown, it includes a terminal 11 and a network device 12.

[0276] The terminal involved in the embodiments of the present application may refer to a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called a user equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device. For example, it may be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges language and / or data with a radio access network. For example, Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), Redcap terminals, Low Power Wide Area (LPWA) terminals, etc. Wireless terminal devices may also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile stations, remote stations, access points, remote terminal devices, access terminal devices, user terminal devices, user agents, and user devices, but are not limited in the embodiments of the present application.

[0277] The network device involved in the embodiments of the present application may be a base station, which may include multiple cells providing services to terminals. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in an access network that communicates with a wireless terminal device through one or more sectors on an air interface, or may be named otherwise. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate attribute management of the air interface. For example, the network device involved in the embodiments of the present application may be a network device (Base Transceiver Station, BTS) in the Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolutionary network device (eNB or e-NodeB) in the Long Term Evolution (LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), a base station in 6G, or a home evolved Node B (HeNB), a relay node, a femto, a pico, etc., which is not limited in the embodiments of the present application. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be geographically separated.

[0278] Network devices and terminals can each use one or more antennas for Multiple Input Multiple Output (MIMO) transmission. MIMO transmission can be either Single User MIMO (SU-MIMO) or Multi User MIMO (MU-MIMO). Depending on the configuration and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or Massive-MIMO. It can also use diversity transmission, precoding, or beamforming.

[0279] See Figure 2 , Figure 2 This is a flowchart of a perception method provided by an embodiment of the present application, which is applied to a first network device, such as Figure 2 As shown, the following steps are included:

[0280] S201: Perform target perception measurement to obtain a value of a first perception parameter of the perceived target;

[0281] S202: Based on the value of the first perception parameter of the perception target, the perception target is matched and grouped, and the value of the second perception parameter of each group is determined; and / or, the value of the first perception parameter of the perception target is sent to the perception server, and the value of the first perception parameter of the perception target is used for: the perception server matches and groups the perception target, and determines the value of the second perception parameter of each group.

[0282] It should be understood that the process of the first network device performing target perception measurement is to receive a reflected signal (reflected perception signal) corresponding to the perception signal, perform measurement based on the received reflected signal, and obtain the value of the first perception parameter of the perception target. The perception signal may be sent by other devices, and the first network device receives the reflected signal after it passes through the target. The perception signal may also be sent by the first network device, and the reflected signal after it passes through the target is received. Among the perception targets determined by the target perception measurement, there may be the same target. In this application, the value of the first perception parameter of the perception target obtained by the target perception measurement can be used to perform target matching grouping on the perception targets. The targets in the same group are matched. It can be understood that the targets in the same group are the same targets, that is, the targets in the same group correspond to the same object. In one example, the first network device itself performs target matching grouping based on the value of the first perception parameter of the perception target. In another example, the perception server can also perform target matching grouping, that is, the first network device sends the value of the first perception parameter of the perception target obtained by measurement to the perception server, and the perception server performs target matching grouping on the perception targets based on the received value of the first perception parameter of the perception target. It should be noted that the number of perceived targets can also be reported to the perception server. The above-mentioned target perception measurement is performed, and the number of perceived targets determined can be 0, 1 or more. 0 means that no target is detected, that is, no target is detected within the perception range of the first network device. At this time, the number of detected targets is 0.

[0283] In this embodiment, after the first network device performs target perception measurement to obtain the value of the first perception parameter of the perception target, it can match and group the perception target based on the value of the first perception parameter of the perception target and determine the value of the second perception parameter of each group. It can also send the value of the first perception parameter of the perception target to the perception server, and the perception server matches and groups the perception target based on the value of the first perception parameter of the perception target and determines the value of the second perception parameter of each group. It can be understood that in this embodiment, since the perception targets determined by performing target perception measurement may be the same target, and different targets can be distinguished and the same target can be identified, after performing target perception measurement to obtain the value of the first perception parameter of the perception target, the value of the first perception parameter of the perception target can be used to match and group the perception targets. In this way, unmatched targets can be divided into different groups, matched targets can be divided into the same group, and the value of the second perception parameter of each group can be determined. In this way, the accuracy of target perception can be improved.

[0284] In some embodiments, performing target perception measurement to obtain a value of a first perception parameter of the perceived target includes:

[0285] Target perception measurement is performed based on the first perception configuration information to obtain a value of a first perception parameter of the perception target.

[0286] The first perception configuration information can be obtained first. The first perception configuration information can be used to configure the information required for target perception measurement. The first perception configuration information is used to perform target perception measurement to obtain the value of the first perception parameter of the perceived target to achieve target perception, thereby improving the target perception effect.

[0287] In some embodiments, before performing the target perception measurement, the method further includes: receiving the first perception configuration information sent by the perception server.

[0288] That is, the perception server configures the first perception configuration information and sends it to the first network device. The first network device obtains the first perception configuration information from the perception server to perform target perception measurement.

[0289] In some embodiments, the receiving the first perception configuration information sent by the perception server includes:

[0290] Receive the first perception configuration information sent by the perception server via unicast, multicast or broadcast.

[0291] That is, the perception server can send the first perception configuration information via unicast, multicast or broadcast, thereby improving the flexibility of sending the first perception configuration information. In this way, the first network device can receive the first perception configuration information sent by the perception server via unicast, multicast or broadcast.

[0292] In some embodiments, the first perception configuration information is sent by the perception server in a unicast manner, wherein the first perception configuration information is used to configure at least one of the following:

[0293] a perception type of the first network device;

[0294] the first perception parameter;

[0295] the second perception parameter;

[0296] The resource for sending the perception signal by the first network device;

[0297] The resource for receiving the reflected signal by the first network device;

[0298] first information used by the first network device to perform target matching grouping;

[0299] The first network device sends a resource of the value of the first perception parameter;

[0300] The first network device sends a resource of the value of the second perception parameter.

[0301] When the perception server sends perception configuration information in a unicast manner, the corresponding perception configuration information can be sent to the network devices that need to participate in the perception. For example, the perception server can send the first perception configuration information to the first network device in a unicast manner. In this case, the first perception configuration information sent by the perception server can be used to configure the perception type of the first network device, the first perception parameter, the second perception parameter, the resources for the first network device to send the perception signal, the resources for the first network device to receive the reflected signal, the first information used for the first network device to perform target matching grouping, the resources for the first network device to send the value of the first perception parameter, and the resources for the first network device to send the value of the second perception parameter, so that the first network device can perform target perception measurement based on the above-mentioned first perception configuration information. Exemplarily, the perception type may include a receiving base station, a sending base station, a transceiver base station, or a base station that does not participate in perception. The perception type of the first network device can be a receiving base station or a transceiver base station. For a receiving base station, that is, the sending base station sends the perception signal, and the receiving base station performs target measurement based on the reflected signal corresponding to the perception signal. For a transceiver base station, that is, the transceiver base station sends the perception signal and receives the reflected signal corresponding to the perception signal to perform target measurement. For the sending base station, that is, it sends a sensing signal, and other base stations receive the corresponding reflected signals to perform target measurement.

[0302] In some embodiments, the first perception configuration information is sent by the perception server via multicast or broadcast, wherein the first perception configuration information is used to configure at least one of the following:

[0303] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the network devices participating in sensing include the first network device;

[0304] Resources of the network devices participating in the perception for sending perception signals and / or receiving reflected signals;

[0305] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0306] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0307] the first perception parameter;

[0308] the second perception parameter;

[0309] The first information is used by the participating perception network device to perform target matching grouping.

[0310] In this embodiment, the perception server can send first perception configuration information to the first network device via multicast or broadcast. In this case, the first perception configuration information sent by the perception server can be used to configure the perception type of the network devices participating in perception and the identification set corresponding to each perception type in the network devices participating in perception, the first perception parameter, the second perception parameter, the resources for the network devices participating in perception to send perception signals, the resources for the network devices participating in perception to receive reflected signals, the first information used for the first network device to perform target matching grouping, the resources for the network devices participating in perception to send the value of the first perception parameter, and the resources for the network devices participating in perception to send the value of the second perception parameter. In this way, the first network device receives the first perception configuration information so that the first network device can perform target perception measurement based on the first perception configuration information.

[0311] In some embodiments, the first perception parameter includes at least one of the following:

[0312] Sending signal beam information;

[0313] Receive signal beam information;

[0314] distance or location coordinates;

[0315] velocity or Doppler shift;

[0316] echo angle;

[0317] echo received power;

[0318] Echo signal energy;

[0319] Echo multipath delay;

[0320] Material type;

[0321] Echo power attenuation level;

[0322] Section type.

[0323] It should be understood that the above-mentioned echo refers to the echo signal (reflected signal) corresponding to the perception signal. For example, the echo receiving power can be the total power, peak power, etc. The echo signal energy can be obtained by multiplying the average power of the echo by the duration of the echo. In addition, it can be multi-path propagation, and the first perception parameter can also include the echo multi-path delay, and the echo multi-path delay can be the maximum multi-path delay, etc. The material type can be understood as the radar cross-section (RCS) reflection coefficient, which can be calculated by the echo receiving power, the echo signal energy, the echo multi-path delay, etc. In addition, the power attenuation of the echo can be configured with size levels, that is, the echo power attenuation level, which can also be called size level. In addition, the cross-section type can be determined according to the statistical law or waveform of the echo, and the interface type can be configured: sphere, horizontal plane, cone, etc.

[0324] In some embodiments, the second perception parameter includes at least one of the following:

[0325] distance;

[0326] speed;

[0327] angle;

[0328] The number of detected objects. The perception targets in the same group correspond to the same object.

[0329] It should be understood that the number of detected objects can be the same as the number of groups. The distance in the second perception parameter corresponding to the group can be determined based on the distance or coordinate position of the perceived target in the group. The speed in the second perception parameter corresponding to the group can be determined based on the speed or Doppler shift of the perceived target in the group. The angle in the second perception parameter can be understood as the angular offset between the object and the coverage center of the first network device. The angle in the second perception parameter corresponding to the group can be calculated based on the echo angle of the perceived target in the group.

[0330] In some embodiments, sending the value of the first perception parameter of the perception target to the perception server includes:

[0331] Sending second information to the perception server, where the second information includes a list of first information of each perception target in the perception targets;

[0332] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[0333] It should be understood that reporting the value of the first perception parameter to the perception server in Format 1 means sending second information to the perception server, which carries a first information list of each perception target, where each first information list includes the identifier of the corresponding perception target and the value of the first perception parameter of the corresponding perception target. In one example, the second information also includes the number of perception targets, where the number of perception targets is the number of the perception targets.

[0334] In some embodiments, the targets in the same group correspond to the same object, and the value of the second perception parameter of each group represents the value of the second perception parameter of the corresponding object;

[0335] After matching and grouping the perception targets based on the value of the first perception parameter of the perception target and determining the value of the second perception parameter of each group, the method further includes:

[0336] The value of the second perception parameter of each group is sent to the perception server.

[0337] That is, in this embodiment, the first network device itself matches the groups and determines the value of the second perception parameter of each group. After that, the value of the second perception parameter of each group determined by the first network device can be sent to the perception server so that the perception server can obtain the value of the second perception parameter of the perceived object.

[0338] In some embodiments, sending the value of the second perception parameter of each packet to the perception server includes:

[0339] Sending third information to the perception server, wherein the third information includes a second information list of objects corresponding to each group, and each second information list includes an identifier of the corresponding object and a value of a second perception parameter of the corresponding object.

[0340] That is, the value of the second perception parameter of each group is reported to the perception server in the above manner, so that the perception server can obtain the perception information of each object after grouping.

[0341] In some embodiments, matching and grouping the perception targets based on the value of the first perception parameter of the perception targets includes:

[0342] The perception targets are matched and grouped based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information.

[0343] That is, in this implementation, the first perception configuration information includes first information for matching groups, so that the first network device can match and group the perception target based on the value of the first perception parameter of the perception target and the first information, so as to enable the first network device itself to match and group.

[0344] In some embodiments, the first information includes at least one of the following:

[0345] Minimum resolution distance;

[0346] Minimum resolution speed;

[0347] Echo receive power difference threshold;

[0348] Echo signal energy difference threshold;

[0349] Echo multipath delay type reference set;

[0350] Material type reference collection;

[0351] Echo power attenuation level reference set;

[0352] A reference collection of section types.

[0353] In some embodiments, the first perception parameter includes a first portion of perception parameters and a second portion of perception parameters, and the first information includes a first portion of information and a second portion of information;

[0354] The matching and grouping the perception targets based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information includes:

[0355] For each target in the perception targets, weighting the value of each parameter in the first part of the perception parameters of the target to obtain a first target characteristic value of each parameter, and / or calculating a weighted sum of the values of the third perception parameter of the target to obtain a second target characteristic value of the target;

[0356] For every two targets among the perceived targets, calculate the first difference between the first target characteristic values of the first part of the perception parameters of the two targets, and match and group the perceived targets based on the first difference between every two targets among the perceived targets and the first part of the information; and / or calculate the second difference between the second target characteristic values of the two targets, and match and group the perceived targets based on the second difference between every two targets among the perceived targets and the first part of the information.

[0357] That is, in this embodiment, by calculating the first target characteristic value of the parameter and / or the second target characteristic value of the target, the first target characteristic value and / or the second target characteristic value are used together with the first part of the information to achieve matching and grouping of the perceived targets to improve the accuracy of target grouping.

[0358] Exemplarily, the first portion of the perception parameters may include at least one of distance, speed, echo received power, and echo signal energy, and the second portion of the perception parameters may include at least one of echo multipath delay, material type, echo power attenuation level, and section type. The second portion of information may include at least one of an echo multipath delay reference set, a material type reference set, an echo power attenuation level reference set, and a section type reference set. The first portion of information may include at least one of a minimum resolution distance, a minimum resolution speed, an echo received power difference threshold, and an echo signal energy difference threshold.

[0359] In some embodiments, matching and grouping the perception targets based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information includes:

[0360] For every two targets in the perception targets, if the values of the second part of the perception parameters of the two targets belong to the second part of the information and the values of the second part of the perception parameters between the two targets match, the two targets are divided into the same group.

[0361] For the values of the second part of the perception parameters, the values of the second part of the perception parameters between the two targets can be matched. If they match (for example, consistent), the two targets are considered to be the same target and are divided into one group to improve the accuracy of target division.

[0362] See Figure 3 , Figure 3 This is a flow chart of a perception method provided by an embodiment of the present application, which is applied to a perception server, such as Figure 3 As shown, the following steps are included:

[0363] S301: Receive values of first perception parameters of M perception targets sent by N network devices, match and group the M perception targets based on the values of the first perception parameters of the M perception targets, and determine a value of a second perception parameter for each group;

[0364] N is a positive integer, M is a positive integer, the N network devices include the first network device, and the M perception targets include perception targets determined by each of the N network devices performing target perception measurement.

[0365] In some embodiments, before receiving the values of the first perception parameters of the M perception targets sent by the N network devices, the method further includes:

[0366] The corresponding perception configuration information is sent to each of the N network devices through unicast, multicast or broadcast. The perception configuration information corresponding to the network device is used by the network device to perform target perception measurement. The perception configuration information corresponding to the first network device is the first perception configuration information.

[0367] In some embodiments, the perception configuration information is sent by the perception server via unicast, wherein the perception configuration information corresponding to the network device is used to configure at least one of the following:

[0368] the perception type of the network device;

[0369] the first perception parameter;

[0370] the second perception parameter;

[0371] The resource for the network device to send the perception signal;

[0372] The resource of the network device receiving the reflected signal;

[0373] First information for target matching grouping;

[0374] The network device sends a resource of the value of the first perception parameter;

[0375] The network device sends a resource of the value of the second perception parameter.

[0376] In some embodiments, the perception configuration information is sent by the perception server via multicast or broadcast, wherein the perception configuration information is used to configure at least one of the following:

[0377] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the N network devices belong to the network devices participating in sensing;

[0378] Resources of the network devices participating in the perception for sending and / or receiving perception signals;

[0379] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0380] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0381] the first perception parameter;

[0382] the second perception parameter;

[0383] The first information used for the target matching group.

[0384] In some embodiments, the first perception parameter includes at least one of the following:

[0385] Send signal beam information;

[0386] Receive signal beam information;

[0387] distance or location coordinates;

[0388] velocity or Doppler shift;

[0389] echo angle;

[0390] echo received power;

[0391] Echo signal energy;

[0392] Echo multipath delay;

[0393] Material type;

[0394] Echo power attenuation level;

[0395] Section type.

[0396] In some embodiments, the second perception parameter includes at least one of the following:

[0397] distance;

[0398] speed;

[0399] angle;

[0400] The number of detected objects. The perception targets in the same group correspond to the same object.

[0401] In some embodiments, receiving a value of a first sensing parameter of a sensing target sent by a first network device includes:

[0402] receiving second information sent by the first network device, where the second information includes a first information list of each perception target among the perception targets determined by the first network device through target perception measurement;

[0403] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[0404] In some embodiments, the second information further includes the number of perception targets, where the number of perception targets is the number of perception targets determined by the first network device performing target perception measurement.

[0405] In some embodiments, matching and grouping the M perception targets based on the values of the first perception parameters of the M perception targets includes:

[0406] The M perception targets are matched and grouped based on the values of the first perception parameters of the M perception targets and the first information, where the first information is used for target matching grouping.

[0407] It should be understood that the way in which the perception server performs matching grouping may be the same as the way in which the first network device performs matching grouping, and will not be repeated here.

[0408] In some embodiments, the first information includes at least one of the following:

[0409] Minimum resolution distance;

[0410] Minimum resolution speed;

[0411] Echo receive power difference threshold;

[0412] Echo signal energy difference threshold;

[0413] Echo multipath delay type reference set;

[0414] Material type reference collection;

[0415] Echo power attenuation level reference set;

[0416] A reference collection of section types.

[0417] The process of the above solution is described in detail below with reference to some specific embodiments.

[0418] For different perception modes, the corresponding perception processes will be different. The embodiments of the present application mainly focus on the problem of multi-target perception object matching in the perception mode of only the base station.

[0419] like Figure 4 The figure shows the single-base station mode (single-base station perception). The sector area is the coverage area of the perception signal emitted by the next generation base station (Next Generation Node B, gNB) 1, and the SF (Sensing Function) is the perception server.

[0420] gNB1 simultaneously receives three perception paths, Link 1, Link 2, and Link 3. The problem to be solved in the embodiment of the present application is how to match Link 1 and Link 2, ultimately dividing the perception paths into two groups and determining that there are two perceived objects.

[0421] like Figure 5 The figure shows the single-base station mode (multi-base station collaborative sensing). One sector area is the coverage area of the sensing signal sent by gNB1; the other sector area is the coverage area of the sensing signal sent by gNB2.

[0422] gNB1 simultaneously receives three perception paths, Link1, Link2, and Link3. gNB2 perceives one path, Link4. The problem addressed by this embodiment is how to match Link1 with Link2, and Link3 with Link4, ultimately dividing the perception paths into two groups and determining that there are two perceived objects.

[0423] like Figure 6 The figure shows the dual-base mode (single-pair base station perception). The sector area is the coverage area of the perception signal sent by gNB1, and the receiving base station is gNB2.

[0424] gNB2 simultaneously receives three perception paths, Link1, Link2, and Link3. The problem to be solved in this embodiment is how to match Link1 and Link2, ultimately dividing the perception paths into two groups and determining that there are two perceived objects.

[0425] like Figure 7 The figure shows the dual-base mode (multiple pairs of base stations collaborate for perception). One sector area is covered by the perception signal sent by gNB1, and the receiving base station is gNB3. The other sector area is covered by the perception signal sent by gNB2, and the receiving base station is gNB4.

[0426] gNB3 simultaneously receives three perception paths, Link1, Link2, and Link3, and gNB4 receives one perception path, Link4. The problem to be solved in this embodiment of the application is how to match Link1 with Link2, and Link3 with Link4, ultimately dividing the perception paths into two groups and determining that there are two perceived objects.

[0427] Wireless sensing is generally divided into: monostatic sensing and bistatic sensing. Monostatic sensing means that the base station (or terminal) sends a sensing signal, and after the sensing signal is reflected by the sensed object, it is still received by the same base station (or terminal). Bistatic sensing means that the base station (or terminal) sends a sensing signal, and the sensing signal passes through the wireless channel and is received by another base station (or terminal). The classification of monostatic and bistatic sensing is as follows: Figure 8 As shown. Single-base sensing includes: base station single-base sensing and terminal single-base sensing. Dual-base sensing includes: UE-UE, gNB-gNB, UE-gNB, and gNB-UE. Furthermore, in actual deployment scenarios, a hybrid mode may also be included. The hybrid mode is shown as follows Figure 9 As shown, the base station sends a perception signal. In addition to the perception terminal receiving and measuring the perception signal, the perception base station also receives the reflected perception signal and performs perception measurement. Finally, the base station (or perception server) uses the perception measurement results of the perception base station and the perception terminal to determine the final perception result.

[0428] However, existing protocols do not include a method for matching multiple perceived objects in ISAC single-base mode. This application provides a sensing solution that can match and group perceived target paths in single-base mode, thereby distinguishing perceived objects and determining the number of perceived objects. This method can be used for both single-base-station sensing and multi-base-station collaborative sensing.

[0429] Method 1:

[0430] The base station only reports the sensing information used for grouping (i.e., the value of the first sensing parameter). The SF performs sensing object matching and calculates the actual required sensing information (the value of the second sensing parameter):

[0431] SF configures participating sensing base stations, sends sensing signal resource configuration, and reports the sensing information content and resource configuration for grouping through high-level signaling according to the sensing area. Sensing configuration information can be sent in unicast or broadcast form.

[0432] The sending base station sends a sensing signal to sense the target according to the configuration information;

[0433] The receiving base station receives the reflected signal of the sensing target;

[0434] The receiving base station measures the sensing information for grouping based on the configuration information and the sensing target reflected signal, and reports it to the SF in format 1;

[0435] SF groups objects according to the reported perception information for grouping (the same group refers to the same object) and calculates and determines the perception information actually required for each group: such as distance, angle, speed, etc.

[0436] Method 2:

[0437] The base station can report the perception information used for grouping or the perception information actually required. If the SF receives the perception information used for grouping, it performs perception object matching:

[0438] The SF configures participating sensing base stations, sensing signal sending resource configuration, sensing information reporting content and resource configuration for grouping, and the actual required sensing information reporting content and resource configuration according to the sensing area;

[0439] The sending base station sends a sensing signal to sense the target according to the configuration information;

[0440] The receiving base station receives the reflected signal of the sensing target;

[0441] The receiving base station measures the sensing information for grouping based on the configuration information and the sensing target reflected signal;

[0442] If the receiving base station senses only one object, the receiving base station calculates and determines the actual sensing information required for the object and reports it to the SF using format 2. If the receiving base station senses multiple objects, the receiving base station reports the sensing information for grouping to the SF using format 1;

[0443] SF determines the perceived object information based on the received information format:

[0444] If the information in format 2 is received, the actual sensing information required to sense the object is directly determined: such as distance, angle, speed, etc.

[0445] If information in format 1 is received, objects are grouped according to the perception information used for grouping (the same group is the same object), and the perception information actually required to perceive the objects in each group is calculated and determined: such as distance, angle, speed, etc.

[0446] Method 3:

[0447] The SF configures the participating sensing base stations according to the sensing area, the resource configuration for sending the sensing signal, the actual required sensing information reporting content and resource configuration, and the relevant information (first information) used by the base station to determine the grouping;

[0448] The sending base station sends a sensing signal to sense the target according to the configuration information;

[0449] The receiving base station receives and senses the target reflection;

[0450] The receiving base station measures the sensing information used for grouping based on the configuration information and the reflected signal of the sensing target. It also groups objects into groups (the same group is the same object) based on the relevant information used by the base station to determine the grouping. It calculates the actual sensing information required for each group, such as distance, angle, speed, etc., and reports it to the SF in format 3.

[0451] SF determines the perceived object information based on the received information.

[0452] Among them, for the perception information reporting format 1 for grouping (multi-target):

[0453] Number of perceived targets;

[0454] Perception target identifier (ID) and corresponding perception information list for grouping:

[0455] {perceived target a, perceived target information a1, perceived target information a2, ...};

[0456] {perceived target b, perceived target information b1, perceived target information b2, ...};

[0457] …

[0458] {Perception target n, perception target information n1, perception target information n2, ...}.

[0459] For the actual required perception information reporting format 2 (single target):

[0460] {Perceived object information 1, perceived object information 2, ...}.

[0461] For the actual required perception information reporting format 3 (multi-target):

[0462] The number of objects sensed (i.e., the number of objects detected);

[0463] List of perceived object IDs and corresponding actual required perception information:

[0464] {perceived object A, perceived object information A1, perceived object information A2, ...};

[0465] {perceived object B, perceived object information B1, perceived object information B2, ...};

[0466] …

[0467] {Perceived object N, perceived object information N1, perceived object information N2, ...}.

[0468] For unicast mode, the sensing configuration information may include but is not limited to one or more of the following:

[0469] Base station type (also known as sensing type): The type may include but is not limited to: sending base station, receiving base station, transceiver base station, and non-sensing base station;

[0470] If the type is a transmitting base station and / or a transceiver base station, configure resources for sending the perception signal;

[0471] If the type is a receiving base station and a transceiver base station, configure the resources for receiving the sensing signal. It should be noted that the transceiver base station does not need to be configured with resources for receiving the sensing signal. By default, the transceiver resources are the same.

[0472] If the type is a receiving base station and a transceiver base station, the perception information reporting content () (first perception parameter) and resources for grouping can be configured;

[0473] If the type is a receiving base station or a transceiver base station, you can configure the actual required perception information reporting content (second perception parameter) and resources: such as distance, angle, speed, etc.

[0474] If the type is a receiving base station and a transceiver base station, the base station may be configured to determine relevant information (first information) of the grouping.

[0475] For multicast or broadcast modes, the sensing configuration information includes, but is not limited to, one or more of the following:

[0476] The types and ID sets of base stations participating in sensing may include but are not limited to: a sending base station ID set, a receiving base station ID set, a transceiver base station ID set, and a non-sensing base station ID set. The transceiver base station ID set may not be configured separately, but the following method may be used: if there is a base station with the same ID in the sending base station ID and the receiving base station ID, the base station is in single-base mode, a transceiver base station; the non-sensing base station ID set may not be configured separately, but the following method may be used: if the base station ID is not in all configuration sets, the base station is a non-sensing base station;

[0477] Resources for sending perception signals by a transmitting base station and / or a transceiver base station;

[0478] Resources for receiving the sensing signal at the receiving base station and / or the transceiver base station; it should be noted that the transceiver base station may not be configured with resources for receiving the sensing signal, and the default is that the transmitting and receiving resources are the same;

[0479] The receiving base station and / or the transceiver base station may be configured to report the perception information content and resource configuration for the grouping;

[0480] The receiving base station and / or the transceiver base station can configure the actual required perception information reporting content and resource configuration: such as distance, angle, speed, etc.

[0481] The receiving base station and / or the transceiver base station may configure the base station to determine relevant information for the grouping.

[0482] In addition, the process of the matching grouping method is as follows: the measurement value (the value of the first perception parameter) and the weight are used to calculate the target feature value, and the target feature value and the feature value difference threshold in the first information are used to determine whether different targets are the same object according to the difference threshold between the target feature value and the feature value in the first information (for example, the minimum resolution distance corresponding to the distance (ie, the distance threshold), the minimum resolution speed corresponding to the speed (ie, the speed threshold), the echo received power corresponding to the echo received power, the echo signal energy corresponding to the echo signal energy, and the echo angle corresponding to the echo angle).

[0483] Calculation method of target eigenvalue:

[0484] Joint calculation: target eigenvalue = measurement value 1 * weight 1 + measurement value 2 * weight 2 + ... measurement value i * weight i; i can represent the number of parameters of the first perception parameter;

[0485] Calculate respectively: target eigenvalue 1 = measurement value 1 * weight 1, target eigenvalue 2 = measurement value 2 * weight 2, ..., target eigenvalue i = measurement value i * weight i;

[0486] The method of judging whether they are the same object based on the target feature value and the difference threshold can be used to determine whether they are the same object if any of the following conditions are met:

[0487] Joint calculation: | target 1 eigenvalue - target 2 eigenvalue | < joint eigenvalue difference threshold (joint eigenvalue difference threshold); it can be understood that the first information may also include a joint parameter threshold for joint calculation and judgment;

[0488] Intersection calculation: |Target 1 Eigenvalue 1 - Target 2 Eigenvalue 1| < Eigenvalue 1 difference threshold, and |Target 1 Eigenvalue 2 - Target 2 Eigenvalue 2| < Eigenvalue 2 difference threshold;

[0489] Union calculation: |Target 1 Eigenvalue 1 - Target 2 Eigenvalue 1| < Eigenvalue 1 difference threshold, or |Target 1 Eigenvalue 2 - Target 2 Eigenvalue 2| < Eigenvalue 2 difference threshold.

[0490] Example 1:

[0491] Single base station mode: Single base station perception:

[0492] Method 1:

[0493] SF configures gNB1 through higher-layer signaling based on the sensing area:

[0494] Assume unicast mode is used:

[0495] Base station type: transceiver base station

[0496] Resources for sending and receiving perception signals:

[0497] Time domain resources: starting time slot for transmission and reception, symbol offset value, duration (number of symbols), and transmission period;

[0498] Frequency domain resources: starting RB index, bandwidth, frequency domain pattern (REs used in the frequency domain);

[0499] Code domain resources: codebook index used;

[0500] Content and resources of perception information reported for grouping:

[0501] Content: Transceiver beam ID / transceiver beam direction, measurement distance, measurement speed, measurement angle;

[0502] Resources: format of reported information, transmission time slot, transmission symbol offset value, and occupied RB index value;

[0503] gNB1 sends a sensing signal to sense the target according to the configuration information;

[0504] gNB1 receives the reflected signal from the sensed target;

[0505] The gNB1 measures the sensing information for grouping based on the configuration information and the sensing target reflected signal, and reports it to the SF in format 1:

[0506] Number of perception targets: 3

[0507] Perception Target 1:

[0508] {

[0509] Transceiver beam ID / transceiver beam direction: For example, candidate values 0 to 7, each ID represents a beam direction;

[0510] Measurement distance: For example, the candidate value 0 to 255 represents 0 to 255 meters, with a granularity of 1 meter;

[0511] Measurement speed: For example, the candidate value 0 to 31 represents 0 to 31 m / s, with a granularity of 1 m / s;

[0512] Measurement angle: For example, candidate values 0 to 16 represent -π / 2 to π / 2, and the granularity is π / 16;

[0513] };

[0514] Perception Target 2:

[0515] {Transmit and receive beam ID / transmit and receive beam direction;

[0516] measuring distances;

[0517] Measuring speed;

[0518] Measuring angles;

[0519] };

[0520] Perception Target 3:

[0521] {

[0522] Transceiver beam ID / transceiver beam direction;

[0523] measuring distances;

[0524] Measuring speed;

[0525] Measuring angles;

[0526] }.

[0527] SF groups objects according to the reported perception information for grouping, and calculates and determines the perception information actually required for each group: the position and speed of perception object 1 (perception target 1 and perception target 2) and perception object 2 (perception target 3).

[0528] Method 2:

[0529] SF configures gNB1 through higher-layer signaling based on the sensing area;

[0530] Assume unicast mode is used:

[0531] Base station type: transceiver base station

[0532] Resources for sending and receiving sensing signals: Same as method 1;

[0533] The content and resources of the perception information reported for grouping are the same as those in method 1.

[0534] The actual perception information reporting content and resources required are:

[0535] Content: Perceiving the position and velocity of objects;

[0536] Resources: format of reported information, transmission time slot, transmission symbol offset value, and occupied RB index value;

[0537] gNB1 sends a sensing signal to sense the target according to the configuration information;

[0538] gNB1 receives the reflected signal from the sensed target;

[0539] gNB1 measures the sensing information for grouping based on the configuration information and the sensing target reflected signal.

[0540] If gNB1 senses only one object, it calculates the actual required sensing information for the object and reports it to the SF using format 2:

[0541] {

[0542] The angle offset between the perceived object and the base station coverage center: For example, the candidate value 0 to 16 represents -π / 2 to π / 2, with a granularity of π / 16

[0543] Perceived object speed: For example, candidate values 0 to 31 represent 0 to 31 m / s, with a granularity of 1 m / s

[0544] }

[0545] If gNB1 senses multiple objects, it reports the sensed information for grouping to SF using format 1: Same as method 1;

[0546] SF determines the perceived object information based on the received information format:

[0547] If the received information is in format 2, the actual perceptual information required to perceive the object is directly determined;

[0548] If the received information is in format 1, objects are grouped according to the perception information used for grouping (the same group is the same object), and the perception information actually required to determine the perception objects in each group is calculated: the position and speed of the perception objects.

[0549] Method 3:

[0550] 1) SF configures gNB1 through higher-layer signaling based on the sensing area.

[0551] Assume that unicast mode is adopted (for other modes, refer to Example 5):

[0552] Base station type: transceiver base station;

[0553] Resources for sending and receiving sensing signals: Same as method 1;

[0554] The actual required perceptual information and resources: same as method 2;

[0555] The base station uses the following information to determine the grouping:

[0556] Minimum resolution distance: For example, candidate values 0 to 3 represent 0.5 to 2 m, with a granularity of 0.5 m;

[0557] Minimum resolution speed: For example, the candidate value 0 to 31 represents 0 to 31 m / s, with a granularity of 1 m / s;

[0558] gNB1 sends a sensing signal to sense the target according to the configuration information;

[0559] gNB1 receives the reflected signal from the sensed target;

[0560] The gNB1 measures the sensing information used for grouping based on the configuration information and the reflected signal of the sensing target. It also groups objects (the same object is in the same group) based on the relevant information used by the base station to determine the group. It calculates the actual sensing information required for each group and reports it to the SF using format 3:

[0561] Number of objects sensed: 2

[0562] Perceived Object 1:

[0563] {

[0564] Angle offset between the sensing object 1 and the base station coverage center: For example, candidate values 0 to 16 represent -π / 2 to π / 2, with a granularity of π / 16;

[0565] The speed of object 1 is sensed: for example, candidate values 0 to 31 represent 0 to 31 m / s with a granularity of 1 m / s;

[0566] }

[0567] Perceived Object 2:

[0568] {

[0569] Sense the angular offset between object 2 and the base station coverage center;

[0570] Perceive the speed of object 2;

[0571] }.

[0572] SF determines the perceived object information based on the received information.

[0573] Example 2: Single-base station mode and multi-base station collaborative sensing:

[0574] Method 1:

[0575] SF configures gNB1 and gNB2 through higher-layer signaling based on the sensing area:

[0576] Assuming unicast mode is used (for other modes, refer to Example 5): Configure the following parameters for gNB1 and gNB2 respectively:

[0577] Base station type: transceiver base station;

[0578] Resources for sending and receiving sensing signals (same as in Example 1);

[0579] The content and resources of the perception information reported for the group (same as in Example 1);

[0580] gNB1 and gNB2 send sensing signals to sense the target based on the configuration information.

[0581] gNB1 and gNB2 receive the target reflected signal;

[0582] gNB1 and gNB2 measure the sensing information for grouping based on the configuration information and the sensing target reflected signal, and report it to the SF using format 1:

[0583] gNB1 reports:

[0584] Number of perception targets: 3

[0585] Perception Target 1:

[0586] {

[0587] Transceiver beam ID / transceiver beam direction: For example, candidate values 0 to 7, each ID represents a beam direction;

[0588] Measurement distance: For example, the candidate value 0 to 255 represents 0 to 255 meters, with a granularity of 1 meter;

[0589] Measurement speed: For example, candidate values 0 to 31 represent 0 to 31 m / s, with a granularity of 1 m / s;

[0590] Measurement angle: For example, candidate values 0 to 16 represent -π / 2 to π / 2, and the granularity is π / 16;

[0591] };

[0592] Perception Target 2:

[0593] {Transmit and receive beam ID / transmit and receive beam direction;

[0594] measuring distances;

[0595] Measuring speed;

[0596] Measuring angles;

[0597] };

[0598] Perception Target 3:

[0599] {Transmit and receive beam ID / transmit and receive beam direction;

[0600] measuring distances;

[0601] Measuring speed;

[0602] Measuring angles;

[0603] }.

[0604] gNB2 report content:

[0605] Number of perception targets: 1

[0606] Perception Target 1:

[0607] {

[0608] Transceiver beam ID / transceiver beam direction: For example, candidate values 0 to 7, each ID represents a beam direction

[0609] Measuring distance: For example, the candidate value 0 to 255 represents 0 to 255 meters, with a granularity of 1 meter.

[0610] Measurement speed: For example, candidate values 0 to 31 represent 0 to 31 m / s, with a granularity of 1 m / s

[0611] Measurement angle: For example, candidate values 0 to 16 represent -π / 2 to π / 2, and the granularity is π / 16

[0612] }.

[0613] SF groups objects based on the sensing information reported by gNB1 and gNB2 for grouping, and calculates and determines the sensing information actually required for each group: the position and velocity of sensing object 1 (sensing target 1 of gNB1 and sensing target 2 of gNB1) and sensing object 2 (sensing target 3 of gNB1 and sensing target 4 of gNB2).

[0614] Example 3: Single base station perception in base station dual-base mode:

[0615] Method 1:

[0616] SF configures gNB1 and gNB2 through higher-layer signaling based on the sensing area:

[0617] Assume unicast mode is used:

[0618] gNB1:

[0619] Base station type: sending base station;

[0620] Resources for sending perception signals (same as in Example 1);

[0621] gNB2:

[0622] Base station type: receiving base station;

[0623] Resources for receiving sensing signals (same as in Example 1);

[0624] The content and resources of the perception information reported for the group (same as in Example 1);

[0625] gNB1 sends a sensing signal to sense the target according to the configuration information.

[0626] gNB2 receives the reflected signal from the target

[0627] The gNB2 measures the sensing information for grouping based on the configuration information and the sensing target reflected signal, and reports it to the SF in format 1:

[0628] Number of perception targets: 3

[0629] Perception Target 1:

[0630] {

[0631] Transceiver beam ID / transceiver beam direction: For example, candidate values 0 to 7, each ID represents a beam direction. Measurement distance: For example, candidate values 0 to 255 represent 0 to 255 meters, with a granularity of 1 meter.

[0632] Measurement speed: For example, candidate values 0 to 31 represent 0 to 31 m / s, with a granularity of 1 m / s

[0633] Measurement angle: For example, candidate values 0 to 16 represent -π / 2 to π / 2, and the granularity is π / 16

[0634] }

[0635] Perception Target 2:

[0636] {

[0637] Transceiver beam ID / transceiver beam direction;

[0638] measuring distances;

[0639] Measuring speed;

[0640] Measuring angles;

[0641] }

[0642] Perception Target 3:

[0643] {Transmit and receive beam ID / transmit and receive beam direction;

[0644] measuring distances;

[0645] Measuring speed;

[0646] Measuring angles;

[0647] }.

[0648] SF groups objects according to the reported perception information for grouping, and calculates and determines the perception information actually required for each group: the position and speed of perception object 1 (perception target 1 and perception target 2) and perception object 2 (perception target 3).

[0649] Method 2:

[0650] 1) SF configures gNB1 and gNB2 based on the sensing area through higher-layer signaling:

[0651] Assume unicast mode is used:

[0652] gNB1:

[0653] Base station type: sending base station;

[0654] Resources for sending perception signals (same as in Example 1);

[0655] gNB2:

[0656] Base station type: receiving base station;

[0657] Resources for receiving sensing signals (same as in Example 1);

[0658] The content and resources of the perception information reported for the group (same as in Example 1);

[0659] The actual required perception information reporting content and resources (same as in Example 1);

[0660] gNB1 sends a sensing signal to sense the target according to the configuration information.

[0661] gNB2 receives the reflected signal from the target

[0662] gNB2 measures the sensing information for grouping based on the configuration information and the sensing target reflected signal.

[0663] If gNB2 senses only one object, gNB2 calculates the actual required sensing information for that object and reports it to the SF using format 2. If gNB2 senses multiple objects, gNB2 reports the grouped sensing information to the SF using format 1: the same as method 1.

[0664] SF determines the perceived object information based on the received information format:

[0665] If the received information is in format 2, the actual perception information required to perceive the object is directly determined.

[0666] If the received information is in format 1, objects are grouped according to the perception information used for grouping (the same group refers to the same object), and the perception information actually required to perceive the objects in each group is calculated and determined.

[0667] Method 3:

[0668] SF configures gNB1 and gNB2 through higher-layer signaling based on the sensing area.

[0669] Assume unicast mode is used:

[0670] gNB1:

[0671] Base station type: sending base station;

[0672] Resources for sending perception signals (same as in Example 1);

[0673] gNB2:

[0674] Base station type: receiving base station;

[0675] Resources for receiving sensing signals (same as in Example 1);

[0676] The actual required perception information reporting content and resources (same as in Example 1);

[0677] gNB1 sends a sensing signal to sense the target according to the configuration information.

[0678] gNB2 receives the reflected signal from the target

[0679] The gNB2 measures the sensing information for grouping based on the configuration information and the reflected signal of the sensing target, groups the objects (objects in the same group are the same object), calculates the actual sensing information required for each group, and reports it to the SF using format 3:

[0680] Number of objects sensed: 2

[0681] Perceived Object 1:

[0682] {

[0683] Angle offset between the sensing object 1 and the base station coverage center: For example, candidate values 0 to 16 represent -π / 2 to π / 2, with a granularity of π / 16;

[0684] The speed of object 1: For example, the candidate value 0 to 31 represents 0 to 31 m / s, with a granularity of 1 m / s

[0685] }

[0686] Perceived Object 2:

[0687] {

[0688] Sense the angular offset between object 1 and the base station coverage center;

[0689] Sense the angular offset between object 2 and the base station coverage center;

[0690] }.

[0691] SF determines the perceived object information based on the received information

[0692] Example 4: Base station dual-base mode multi-base station cooperative sensing ( Figure 4 )

[0693] Method 1:

[0694] 1) The SF configures gNB1, gNB2, gNB3, and gNB4 based on the sensing area through higher-layer signaling:

[0695] If unicast is used:

[0696] Configure the following parameters for gNB1 and gNB2 respectively:

[0697] Base station type: sending base station;

[0698] Resources for sending perception signals (same as in Example 1).

[0699] Configure the following parameters for gNB3 and gNB4 respectively:

[0700] Base station type: Receiving base station

[0701] Resources for receiving sensing signals (same as in Example 1);

[0702] Used for reporting content and resources of grouped perception information (same as in Example 1).

[0703] gNB1 and gNB2 send sensing signals to sense the target according to the configuration information.

[0704] gNB3 and gNB4 receive the reflected signal from the target

[0705] gNB3 and gNB4 measure the sensing information for grouping based on the configuration information and the sensing target reflected signal, and report it to the SF using format 1:

[0706] gNB1 reports:

[0707] Number of perception targets: 3

[0708] Perception Target 1:

[0709] {

[0710] Transceiver beam ID / transceiver beam direction: For example, candidate values 0 to 7, each ID represents a beam direction;

[0711] Measurement distance: For example, the candidate value 0 to 255 represents 0 to 255 meters, with a granularity of 1 meter;

[0712] Measurement speed: For example, candidate values 0 to 31 represent 0 to 31 m / s, with a granularity of 1 m / s;

[0713] Measurement angle: For example, candidate values 0 to 16 represent -π / 2 to π / 2, and the granularity is π / 16;

[0714] }

[0715] Perception Target 2:

[0716] {

[0717] Transceiver beam ID / transceiver beam direction;

[0718] measuring distances;

[0719] Measuring speed;

[0720] Measuring angles;

[0721] }

[0722] Perception Target 3:

[0723] {Transmit and receive beam ID / transmit and receive beam direction;

[0724] measuring distances;

[0725] Measuring speed;

[0726] Measuring angles;

[0727] }

[0728] gNB2 report content:

[0729] Number of perception targets: 1

[0730] Perception Target 1:

[0731] {

[0732] Transceiver beam ID / transceiver beam direction: For example, candidate values 0 to 7, each ID represents a beam direction

[0733] Measuring distance: For example, the candidate value 0 to 255 represents 0 to 255 meters, with a granularity of 1 meter.

[0734] Measurement speed: For example, candidate values 0 to 31 represent 0 to 31 m / s, with a granularity of 1 m / s

[0735] Measurement angle: For example, candidate values 0 to 16 represent -π / 2 to π / 2, and the granularity is π / 16

[0736] }.

[0737] SF groups objects based on the sensing information reported by gNB3 and gNB4 for grouping, and calculates and determines the sensing information actually required for each group: the position and velocity of sensing object 1 (sensing target 1 of gNB1 and sensing target 2 of gNB1) and sensing object 2 (sensing target 3 of gNB1 and sensing target 4 of gNB2).

[0738] Example 5: Example of SF configuration sensing base station information method (hybrid mode):

[0739] Here we take the mixed mode as an example. Figure 10 As shown in the figure, gNB1 and gNB3 are in dual-base mode, with gNB1 transmitting and gNB3 receiving, while gNB2 is in single-base station autonomous transmission and reception mode. Assuming that the multi-target perception object matching method adopts method 1:

[0740] Solution 1: SF configures gNB1, gNB2, and gNB3 in unicast mode through higher-layer signaling based on the sensing area:

[0741] Configure the following parameters for gNB1:

[0742] Base station type: sending base station;

[0743] Resources for sending perception signals: including time domain, frequency domain, and code domain.

[0744] Configure the following parameters for gNB2:

[0745] Base station type: transceiver base station;

[0746] Resources for sending and receiving sensing signals: including time domain, frequency domain, and code domain;

[0747] Used to report content and resources of grouped perception information.

[0748] Configure the following parameters for gNB3:

[0749] Base station type: Receiving base station''

[0750] Resources for receiving perception signals: including time domain, frequency domain, and code domain

[0751] Used to report content and resources of grouped perception information.

[0752] Solution 2: SF configures gNB1, gNB2, and gNB3 (transceiver base stations as separate types) in multicast mode through higher-layer signaling based on the sensing area:

[0753] resource1:

[0754] Transmitting base station: gNB1; Receiving base station: gNB3

[0755] gNB1 sends sensing signals in the time, frequency, and code domains.

[0756] gNB3 receives sensing signal resources in the time domain, frequency domain, and code domain.

[0757] gNB1 is used to report the content and resources of grouped perception information.

[0758] resouce2:

[0759] Transceiver base station: gNB2;

[0760] gNB2 sends and receives sensing signals in the time, frequency, and code domains.

[0761] gNB2 is used to report the content and resources of grouped perception information.

[0762] Solution 3: SF configures gNB1, gNB2, and gNB3 in multicast mode based on the sensing area through higher-layer signaling (the transceiver base stations are not used as separate types):

[0763] resource1:

[0764] Transmitting base station: gNB1; Receiving base station: gNB3;

[0765] Resources for sending perception signals: including time domain, frequency domain, and code domain;

[0766] Resources for receiving and sensing signals: including time domain, frequency domain, and code domain;

[0767] gNB1 is used to report the content and resources of grouped perception information.

[0768] resouce2:

[0769] Transmitting base station: gNB2; Receiving base station: gNB2;

[0770] Resources for sending perception signals: including time domain, frequency domain, and code domain;

[0771] Resources for receiving and sensing signals: including time domain, frequency domain, and code domain;

[0772] gNB2 is used to report the content and resources of grouped perception information.

[0773] This application proposes a method for matching multi-target perception objects, solving the problem of multi-target perception object matching in a base station-only perception mode. The effect achieved is that, whether a single base station participates in perception or multiple base stations cooperate in perception, multiple perception targets can be grouped based on measurement information, and targets in the same group can be treated as coming from the same perception object, thereby enabling the SF to more accurately obtain information about the perception objects within the perception area.

[0774] See Figure 11 , Figure 11 is a structural diagram of a communication device provided by an embodiment of the present invention, such as Figure 11 As shown, it includes a memory 1120, a transceiver 1100 and a processor 1110:

[0775] The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; and the processor is used to read the computer program in the memory and perform the following operations:

[0776] Performing target perception measurement to obtain a value of a first perception parameter of the perceived target;

[0777] Based on the value of the first perception parameter of the perception target, the perception target is matched and grouped, and the value of the second perception parameter of each group is determined; and / or, the value of the first perception parameter of the perception target is sent to the perception server, and the value of the first perception parameter of the perception target is used for: the perception server matches and groups the perception target, and determines the value of the second perception parameter of each group.

[0778] Among them, Figure 11In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1110 and memory represented by memory 1120. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1100 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. For different user devices, the user interface 1130 may also be an interface capable of connecting external or internal devices as required, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0779] The processor 1110 is responsible for managing the bus architecture and general processing, and the memory 1120 can store data used by the processor 1110 when performing operations.

[0780] Optionally, the processor 1110 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0781] The processor calls the computer program stored in the memory to execute any of the methods provided by the embodiments of the present invention according to the obtained executable instructions. The processor and the memory can also be physically separated.

[0782] In some embodiments, the processor is configured to read the computer program in the memory and specifically perform the following operations:

[0783] Target perception measurement is performed based on the first perception configuration information to obtain a value of a first perception parameter of the perception target.

[0784] In some embodiments, the processor, configured to read the computer program in the memory, further performs the following operations:

[0785] Before performing the target perception measurement, the first perception configuration information sent by the perception server is received.

[0786] In some embodiments, the receiving the first perception configuration information sent by the perception server includes:

[0787] Receive the first perception configuration information sent by the perception server via unicast, multicast or broadcast.

[0788] In some embodiments, the first perception configuration information is sent by the perception server in a unicast manner, wherein the first perception configuration information is used to configure at least one of the following:

[0789] a perception type of the first network device;

[0790] the first perception parameter;

[0791] the second perception parameter;

[0792] The resource for sending the perception signal by the first network device;

[0793] The resource for receiving the reflected signal by the first network device;

[0794] first information used by the first network device to perform target matching grouping;

[0795] The first network device sends a resource of the value of the first perception parameter;

[0796] The first network device sends a resource of the value of the second perception parameter.

[0797] In some embodiments, the first perception configuration information is sent by the perception server via multicast or broadcast, wherein the first perception configuration information is used to configure at least one of the following:

[0798] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the network devices participating in sensing include the first network device;

[0799] Resources of the network devices participating in the perception for sending perception signals and / or receiving reflected signals;

[0800] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0801] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0802] the first perception parameter;

[0803] the second perception parameter;

[0804] The first information is used by the participating perception network device to perform target matching grouping.

[0805] In some embodiments, the first perception parameter includes at least one of the following:

[0806] Send signal beam information;

[0807] Receive signal beam information;

[0808] distance or location coordinates;

[0809] velocity or Doppler shift;

[0810] echo angle;

[0811] echo received power;

[0812] Echo signal energy;

[0813] Echo multipath delay;

[0814] Material type;

[0815] Echo power attenuation level;

[0816] Section type.

[0817] In some embodiments, the second perception parameter includes at least one of the following:

[0818] distance;

[0819] speed;

[0820] angle;

[0821] The number of detected objects. The perception targets in the same group correspond to the same object.

[0822] In some embodiments, sending the value of the first perception parameter of the perception target to the perception server includes:

[0823] Sending second information to the perception server, where the second information includes a list of first information of each perception target in the perception targets;

[0824] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[0825] In some embodiments, the second information further includes the number of perception targets, where the number of perception targets is the number of the perception targets.

[0826] In some embodiments, the targets in the same group correspond to the same object, and the value of the second perception parameter of each group represents the value of the second perception parameter of the corresponding object;

[0827] After matching and grouping the perception targets based on the value of the first perception parameter of the perception target and determining the value of the second perception parameter of each group, the method further includes:

[0828] The value of the second perception parameter of each group is sent to the perception server.

[0829] In some embodiments, sending the value of the second perception parameter of each packet to the perception server includes:

[0830] Sending third information to the perception server, wherein the third information includes a second information list of objects corresponding to each group, and each second information list includes an identifier of the corresponding object and a value of a second perception parameter of the corresponding object.

[0831] In some embodiments, the processor is configured to read the computer program in the memory and specifically perform the following operations:

[0832] The perception targets are matched and grouped based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information.

[0833] In some embodiments, the first information includes at least one of the following:

[0834] Minimum resolution distance;

[0835] Minimum resolution speed;

[0836] Echo receive power difference threshold;

[0837] Echo signal energy difference threshold;

[0838] Echo multipath delay reference set;

[0839] Material type reference collection;

[0840] Echo power attenuation level reference set;

[0841] A reference collection of section types.

[0842] In some embodiments, the first perception parameter includes a first portion of perception parameters and a second portion of perception parameters, and the first information includes a first portion of information and a second portion of information;

[0843] The processor is configured to read the computer program in the memory and specifically perform the following operations:

[0844] For each target in the perception targets, weighting the value of each parameter in the first part of the perception parameters of the target to obtain a first target characteristic value of each parameter, and / or calculating a weighted sum of the values of the third perception parameter of the target to obtain a second target characteristic value of the target;

[0845] For every two targets among the perceived targets, calculate the first difference between the first target characteristic values of the first part of the perception parameters of the two targets, and match and group the perceived targets based on the first difference between every two targets among the perceived targets and the first part of the information; and / or calculate the second difference between the second target characteristic values of the two targets, and match and group the perceived targets based on the second difference between every two targets among the perceived targets and the first part of the information.

[0846] In some embodiments, the processor is configured to read the computer program in the memory and specifically perform the following operations:

[0847] For every two targets in the perception targets, if the values of the second part of the perception parameters of the two targets belong to the second part of the information and the values of the second part of the perception parameters between the two targets match, the two targets are divided into the same group.

[0848] It should be noted here that the above-mentioned communication equipment provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0849] See Figure 12 , Figure 12 is a structural diagram of a communication device provided by an embodiment of the present invention, such as Figure 12 As shown, it includes a memory 1220, a transceiver 1200 and a processor 1210:

[0850] The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; and the processor is used to read the computer program in the memory and perform the following operations:

[0851] Receive values of first perception parameters of M perception targets sent by N network devices, match and group the M perception targets based on the values of the first perception parameters of the M perception targets, and determine the value of the second perception parameter of each group, where N is a positive integer, M is a positive integer, the N network devices include the first network device, and the M perception targets include perception targets determined by each of the N network devices performing target perception measurement.

[0852] Among them, Figure 12 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1210 and memory represented by memory 1220. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be further described herein. The bus interface provides an interface. The transceiver 1200 may be a plurality of components, i.e., a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. For different user devices, the user interface 1230 may also be an interface capable of connecting external or internal devices as required, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0853] The processor 1210 is responsible for managing the bus architecture and general processing, and the memory 1220 can store data used by the processor 1210 when performing operations.

[0854] Optionally, the processor 1210 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0855] The processor calls the computer program stored in the memory to execute any of the methods provided by the embodiments of the present invention according to the obtained executable instructions. The processor and the memory can also be physically separated.

[0856] In some embodiments, before receiving the values of the first sensing parameters of the M sensing targets sent by the N network devices, the processor, configured to read the computer program in the memory, further performs the following operations:

[0857] The corresponding perception configuration information is sent to each of the N network devices through unicast, multicast or broadcast. The perception configuration information corresponding to the network device is used by the network device to perform target perception measurement. The perception configuration information corresponding to the first network device is the first perception configuration information.

[0858] In some embodiments, the perception configuration information is sent by the perception server via unicast, wherein the perception configuration information corresponding to the network device is used to configure at least one of the following:

[0859] the perception type of the network device;

[0860] the first perception parameter;

[0861] the second perception parameter;

[0862] The resource for the network device to send the perception signal;

[0863] The resource of the network device receiving the reflected signal;

[0864] First information for target matching grouping;

[0865] The network device sends a resource of the value of the first perception parameter;

[0866] The network device sends a resource of the value of the second perception parameter.

[0867] In some embodiments, the perception configuration information is sent by the perception server via multicast or broadcast, wherein the perception configuration information is used to configure at least one of the following:

[0868] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the N network devices belong to the network devices participating in sensing;

[0869] Resources of the network devices participating in the perception for sending and / or receiving perception signals;

[0870] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0871] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0872] the first perception parameter;

[0873] the second perception parameter;

[0874] The first information used for the target matching group.

[0875] In some embodiments, the first perception parameter includes at least one of the following:

[0876] Send signal beam information;

[0877] Receive signal beam information;

[0878] distance or location coordinates;

[0879] velocity or Doppler shift;

[0880] echo angle;

[0881] echo received power;

[0882] Echo signal energy;

[0883] Echo multipath delay;

[0884] Material type;

[0885] Echo power attenuation level;

[0886] Section type.

[0887] In some embodiments, the second perception parameter includes at least one of the following:

[0888] distance;

[0889] speed;

[0890] angle;

[0891] The number of detected objects. The perception targets in the same group correspond to the same object.

[0892] In some embodiments, receiving a value of a first sensing parameter of a sensing target sent by a first network device includes:

[0893] Receiving second information sent by the first network device, where the second information includes a first information list of each perception target among the perception targets determined by the first network device through target perception measurement;

[0894] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[0895] In some embodiments, the second information further includes the number of perception targets, where the number of perception targets is the number of perception targets determined by the first network device performing target perception measurement.

[0896] In some embodiments, matching and grouping the M perception targets based on the values of the first perception parameters of the M perception targets includes:

[0897] The M perception targets are matched and grouped based on the values of the first perception parameters of the M perception targets and the first information, where the first information is used for target matching grouping.

[0898] In some embodiments, the first information includes at least one of the following:

[0899] Minimum resolution distance;

[0900] Minimum resolution speed;

[0901] Echo receive power difference threshold;

[0902] Echo signal energy difference threshold;

[0903] Echo multipath delay type reference set;

[0904] Material type reference collection;

[0905] Echo power attenuation level reference set;

[0906] A reference collection of section types.

[0907] It should be noted here that the above-mentioned communication equipment provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0908] See Figure 13 , Figure 13 This is a structural diagram of a communication device provided by an embodiment of the present invention, including:

[0909] The perception module 1301 is configured to perform target perception measurement and obtain a value of a first perception parameter of the perceived target;

[0910] The grouping module 1302 is used to match and group the perception targets based on the value of the first perception parameter of the perception target, and determine the value of the second perception parameter of each group; and / or, the first sending module is used to send the value of the first perception parameter of the perception target to the perception server, and the value of the first perception parameter of the perception target is used for: the perception server to match and group the perception targets, and determine the value of the second perception parameter of each group.

[0911] In some embodiments, the perception module 1301 is specifically configured to perform target perception measurement based on the first perception configuration information to obtain a value of a first perception parameter of the perception target.

[0912] In some embodiments, the communication device further comprises:

[0913] The second receiving module is configured to receive the first perception configuration information sent by the perception server before the perception module performs the target perception measurement.

[0914] In some embodiments, the receiving the first perception configuration information sent by the perception server includes:

[0915] Receive the first perception configuration information sent by the perception server via unicast, multicast or broadcast.

[0916] In some embodiments, the first perception configuration information is sent by the perception server in a unicast manner, wherein the first perception configuration information is used to configure at least one of the following:

[0917] a perception type of the first network device;

[0918] the first perception parameter;

[0919] the second perception parameter;

[0920] The resource for sending the perception signal by the first network device;

[0921] The resource for receiving the reflected signal by the first network device;

[0922] first information used by the first network device to perform target matching grouping;

[0923] The first network device sends a resource of the value of the first perception parameter;

[0924] The first network device sends a resource of the value of the second perception parameter.

[0925] In some embodiments, the first perception configuration information is sent by the perception server via multicast or broadcast, wherein the first perception configuration information is used to configure at least one of the following:

[0926] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the network devices participating in sensing include the first network device;

[0927] Resources of the network devices participating in the perception for sending perception signals and / or receiving reflected signals;

[0928] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0929] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0930] the first perception parameter;

[0931] the second perception parameter;

[0932] The first information is used by the participating perception network device to perform target matching grouping.

[0933] In some embodiments, the first perception parameter includes at least one of the following:

[0934] Send signal beam information;

[0935] Receive signal beam information;

[0936] distance or location coordinates;

[0937] velocity or Doppler shift;

[0938] echo angle;

[0939] echo received power;

[0940] Echo signal energy;

[0941] Echo multipath delay;

[0942] Material type;

[0943] Echo power attenuation level;

[0944] Section type.

[0945] In some embodiments, the second perception parameter includes at least one of the following:

[0946] distance;

[0947] speed;

[0948] angle;

[0949] The number of detected objects. The perception targets in the same group correspond to the same object.

[0950] In some embodiments, sending the value of the first perception parameter of the perception target to the perception server includes:

[0951] Sending second information to the perception server, where the second information includes a list of first information of each perception target in the perception targets;

[0952] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[0953] In some embodiments, the second information further includes the number of perception targets, where the number of perception targets is the number of the perception targets.

[0954] In some embodiments, the targets in the same group correspond to the same object, and the value of the second perception parameter of each group represents the value of the second perception parameter of the corresponding object;

[0955] The communication device further includes:

[0956] The second sending module is used to send the value of the second perception parameter of each group to the perception server.

[0957] In some embodiments, sending the value of the second perception parameter of each packet to the perception server includes:

[0958] Sending third information to the perception server, wherein the third information includes a second information list of objects corresponding to each group, and each second information list includes an identifier of the corresponding object and a value of a second perception parameter of the corresponding object.

[0959] In some embodiments, the grouping module is specifically configured to:

[0960] The perception targets are matched and grouped based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information.

[0961] In some embodiments, the first information includes at least one of the following:

[0962] Minimum resolution distance;

[0963] Minimum resolution speed;

[0964] Echo receive power difference threshold;

[0965] Echo signal energy difference threshold;

[0966] Echo multipath delay reference set;

[0967] Material type reference collection;

[0968] Echo power attenuation level reference set;

[0969] A reference collection of section types.

[0970] In some embodiments, the first perception parameter includes a first portion of perception parameters and a second portion of perception parameters, and the first information includes a first portion of information and a second portion of information;

[0971] The grouping module is specifically used for:

[0972] For each target in the perception targets, weighting the value of each parameter in the first part of the perception parameters of the target to obtain a first target characteristic value of each parameter, and / or calculating a weighted sum of the values of the third perception parameter of the target to obtain a second target characteristic value of the target;

[0973] For every two targets among the perceived targets, calculate the first difference between the first target characteristic values of the first part of the perception parameters of the two targets, and match and group the perceived targets based on the first difference between every two targets among the perceived targets and the first part of the information; and / or calculate the second difference between the second target characteristic values of the two targets, and match and group the perceived targets based on the second difference between every two targets among the perceived targets and the first part of the information.

[0974] In some embodiments, the grouping module is specifically configured to:

[0975] For every two targets in the perception targets, if the values of the second part of the perception parameters of the two targets belong to the second part of the information and the values of the second part of the perception parameters between the two targets match, the two targets are divided into the same group.

[0976] It should be noted here that the above-mentioned communication equipment provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0977] See Figure 14 , Figure 14 This is a structural diagram of a communication device provided by an embodiment of the present invention, including:

[0978] The first receiving module 1401 is configured to receive values of first sensing parameters of M sensing targets sent by N network devices;

[0979] The grouping module 1402 is used to match and group the M perception targets based on the values of the first perception parameters of the M perception targets, and determine the value of the second perception parameter of each group, where N is a positive integer, M is a positive integer, the N network devices include the first network device, and the M perception targets include the perception targets determined by each of the N network devices performing target perception measurements.

[0980] In some embodiments, a third sending module is also included, which is used to send corresponding perception configuration information to each of the N network devices through unicast, multicast or broadcast before the first receiving module receives the values of the first perception parameters of the M perception targets sent by the N network devices. The perception configuration information corresponding to the network devices is used for the network devices to perform target perception measurement, and the perception configuration information corresponding to the first network device is the first perception configuration information.

[0981] In some embodiments, the perception configuration information is sent by the perception server via unicast, wherein the perception configuration information corresponding to the network device is used to configure at least one of the following:

[0982] the perception type of the network device;

[0983] the first perception parameter;

[0984] the second perception parameter;

[0985] The resource for the network device to send the perception signal;

[0986] The resource of the network device receiving the reflected signal;

[0987] First information for target matching grouping;

[0988] The network device sends a resource of the value of the first perception parameter;

[0989] The network device sends a resource of the value of the second perception parameter.

[0990] In some embodiments, the perception configuration information is sent by the perception server via multicast or broadcast, wherein the perception configuration information is used to configure at least one of the following:

[0991] a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the N network devices belong to the network devices participating in sensing;

[0992] Resources of the network devices participating in the perception for sending and / or receiving perception signals;

[0993] The network device participating in the perception sends a resource of the value of the first perception parameter;

[0994] The network device participating in the perception sends a resource of the value of the second perception parameter;

[0995] the first perception parameter;

[0996] the second perception parameter;

[0997] The first information used for the target matching group.

[0998] In some embodiments, the first perception parameter includes at least one of the following:

[0999] Send signal beam information;

[1000] Receive signal beam information;

[1001] distance or location coordinates;

[1002] velocity or Doppler shift;

[1003] echo angle;

[1004] echo received power;

[1005] Echo signal energy;

[1006] Echo multipath delay;

[1007] Material type;

[1008] Echo power attenuation level;

[1009] Section type.

[1010] In some embodiments, the second perception parameter includes at least one of the following:

[1011] distance;

[1012] speed;

[1013] angle;

[1014] The number of detected objects. The perception targets in the same group correspond to the same object.

[1015] In some embodiments, receiving a value of a first sensing parameter of a sensing target sent by a first network device includes:

[1016] Receiving second information sent by the first network device, where the second information includes a first information list of each perception target among the perception targets determined by the first network device through target perception measurement;

[1017] Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

[1018] In some embodiments, the second information further includes the number of perception targets, where the number of perception targets is the number of perception targets determined by the first network device performing target perception measurement.

[1019] In some embodiments, matching and grouping the M perception targets based on the values of the first perception parameters of the M perception targets includes:

[1020] The M perception targets are matched and grouped based on the values of the first perception parameters of the M perception targets and the first information, where the first information is used for target matching grouping.

[1021] In some embodiments, the first information includes at least one of the following:

[1022] Minimum resolution distance;

[1023] Minimum resolution speed;

[1024] Echo receive power difference threshold;

[1025] Echo signal energy difference threshold;

[1026] Echo multipath delay type reference set;

[1027] Material type reference collection;

[1028] Echo power attenuation level reference set;

[1029] A reference collection of section types.

[1030] It should be noted here that the above-mentioned communication equipment provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[1031] It should be noted that the division of units in the embodiments of the present invention is schematic and is only a logical functional division. In actual implementation, other division methods may be used. In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit. The above-mentioned integrated units can be implemented in the form of hardware or software functional units.

[1032] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[1033] An embodiment of the present application provides a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the above-mentioned perception method.

[1034] An embodiment of the present application provides a processor-readable storage medium, which stores a computer program. The computer program is used to enable the processor to execute the perception method provided by the embodiment of the present application, or the computer program is used to enable the processor to execute the perception method provided by the embodiment of the present application.

[1035] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NANDFLASH), solid-state drives (SSDs)), etc.

[1036] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) that contain computer-usable program code.

[1037] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[1038] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor-readable memory produce an article of manufacture comprising an instruction device that implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[1039] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[1040] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A perception method, characterized in that: Applied to a first network device, the method includes: Performing target perception measurement to obtain a value of a first perception parameter of the perceived target; Based on the value of the first perception parameter of the perception target, the perception target is matched and grouped, and the value of the second perception parameter of each group is determined; and / or, the value of the first perception parameter of the perception target is sent to the perception server, and the value of the first perception parameter of the perception target is used for: the perception server matches and groups the perception target, and determines the value of the second perception parameter of each group.

2. The method according to claim 1, characterized in that The performing target perception measurement to obtain a value of a first perception parameter of the perceived target includes: Target perception measurement is performed based on the first perception configuration information to obtain a value of a first perception parameter of the perception target.

3. The method according to claim 2, characterized in that Before performing the target perception measurement, the method further includes: Receive the first perception configuration information sent by the perception server.

4. The method according to claim 3, characterized in that The receiving the first perception configuration information sent by the perception server includes: Receive the first perception configuration information sent by the perception server via unicast, multicast or broadcast.

5. The method according to claim 4, characterized in that The first perception configuration information is sent by the perception server in a unicast manner, wherein the first perception configuration information is used to configure at least one of the following: a perception type of the first network device; the first perception parameter; the second perception parameter; The resource for sending the perception signal by the first network device; The resource for receiving the reflected signal by the first network device; first information used by the first network device to perform target matching grouping; The first network device sends a resource of the value of the first perception parameter; The first network device sends a resource of the value of the second perception parameter.

6. The method according to claim 4, characterized in that The first perception configuration information is sent by the perception server in a multicast or broadcast manner, wherein the first perception configuration information is used to configure at least one of the following: a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the network devices participating in sensing include the first network device; Resources of the network devices participating in the perception for sending perception signals and / or receiving reflected signals; The network device participating in the perception sends a resource of the value of the first perception parameter; The network device participating in the perception sends a resource of the value of the second perception parameter; the first perception parameter; the second perception parameter; The first information is used by the participating perception network device to perform target matching grouping.

7. The method according to claim 1, characterized in that The first perception parameter includes at least one of the following: Send signal beam information; Receive signal beam information; distance or location coordinates; velocity or Doppler shift; echo angle; echo received power; Echo signal energy; Echo multipath delay; Material type; Echo power attenuation level; Section type.

8. The method according to claim 1, characterized in that The second perception parameter includes at least one of the following: distance; speed; angle; The number of detected objects, where the perception targets in the same group correspond to the same object.

9. The method according to claim 1, characterized in that The sending the value of the first perception parameter of the perception target to the perception server includes: Sending second information to the perception server, where the second information includes a list of first information of each perception target in the perception targets; Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

10. The method according to claim 9, characterized in that The second information also includes the number of sensed targets.

11. The method according to claim 1, wherein The targets in the same group correspond to the same object, and the value of the second perception parameter of each group represents the value of the second perception parameter of the corresponding object; After matching and grouping the perception targets based on the value of the first perception parameter of the perception target and determining the value of the second perception parameter of each group, the method further includes: The value of the second perception parameter of each group is sent to the perception server.

12. The method according to claim 11, characterized in that The sending the value of the second perception parameter of each packet to the perception server includes: Sending third information to the perception server, wherein the third information includes a second information list of objects corresponding to each group, and each second information list includes an identifier of the corresponding object and a value of a second perception parameter of the corresponding object.

13. The method according to claim 1, wherein The matching and grouping of the perception targets based on the value of the first perception parameter of the perception target includes: The perception targets are matched and grouped based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information.

14. The method according to claim 5 or 13, characterized in that The first information includes at least one of the following: Minimum resolution distance; Minimum resolution speed; Echo receive power difference threshold; Echo signal energy difference threshold; Echo multipath delay reference set; Material type reference collection; Echo power attenuation level reference set; A reference collection of section types.

15. The method according to claim 14, characterized in that The first perception parameter includes a first portion of perception parameters and a second portion of perception parameters, and the first information includes a first portion of information and a second portion of information; The matching and grouping the perception targets based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information includes: For each target in the perception targets, weighting the value of each parameter in the first part of the perception parameters of the target to obtain a first target characteristic value of each parameter, and / or calculating a weighted sum of the values of the third perception parameter of the target to obtain a second target characteristic value of the target; For every two targets among the perceived targets, calculate the first difference between the first target characteristic values of the first part of the perception parameters of the two targets, and match and group the perceived targets based on the first difference between every two targets among the perceived targets and the first part of the information; and / or calculate the second difference between the second target characteristic values of the two targets, and match and group the perceived targets based on the second difference between every two targets among the perceived targets and the first part of the information.

16. The method according to claim 15, characterized in that The matching and grouping the perception targets based on the value of the first perception parameter of the perception target and the first information for matching and grouping in the first perception configuration information includes: For every two targets in the perception targets, if the values of the second part of the perception parameters of the two targets belong to the second part of the information and the values of the second part of the perception parameters between the two targets match, the two targets are divided into the same group.

17. A sensing method, characterized in that: Applied to a perception server, the method includes: Receive values of first perception parameters of M perception targets sent by N network devices, match and group the M perception targets based on the values of the first perception parameters of the M perception targets, and determine the value of a second perception parameter of each group, where N is a positive integer, M is a positive integer, the N network devices include a first network device, and the M perception targets include perception targets determined by each of the N network devices performing target perception measurement.

18. The method according to claim 17, characterized in that Before receiving the values of the first perception parameters of the M perception targets sent by the N network devices, the method further includes: The corresponding perception configuration information is sent to each of the N network devices through unicast, multicast or broadcast. The perception configuration information corresponding to the network device is used by the network device to perform target perception measurement. The perception configuration information corresponding to the first network device is the first perception configuration information.

19. The method according to claim 18, characterized in that The perception configuration information is sent by the perception server in a unicast manner, wherein the perception configuration information corresponding to the network device is used to configure at least one of the following: the perception type of the network device; the first perception parameter; the second perception parameter; The resource for the network device to send the perception signal; The resource of the network device receiving the reflected signal; First information for target matching grouping; The network device sends a resource of the value of the first perception parameter; The network device sends a resource of the value of the second perception parameter.

20. The method according to claim 18, wherein The perception configuration information is sent by the perception server via multicast or broadcast, wherein the perception configuration information is used to configure at least one of the following: a sensing type of the network devices participating in sensing and a set of identifiers corresponding to each sensing type in the network devices participating in sensing, wherein the set of identifiers corresponding to the sensing type includes identifiers of network devices belonging to the sensing type, and the N network devices belong to the network devices participating in sensing; Resources of the network devices participating in the perception for sending and / or receiving perception signals; The network device participating in the perception sends a resource of the value of the first perception parameter; The network device participating in the perception sends a resource of the value of the second perception parameter; the first perception parameter; the second perception parameter; The first information used for the target matching group.

21. The method according to claim 17, wherein The first perception parameter includes at least one of the following: Send signal beam information; Receive signal beam information; distance or location coordinates; velocity or Doppler shift; echo angle; echo received power; Echo signal energy; Echo multipath delay; Material type; Echo power attenuation level; Section type.

22. The method according to claim 17, wherein The second perception parameter includes at least one of the following: distance; speed; angle; The number of detected objects, where the perception targets in the same group correspond to the same object.

23. The method according to claim 17, wherein Receiving a value of a first perception parameter of a perception target sent by a first network device includes: Receiving second information sent by the first network device, where the second information includes a first information list of each perception target among the perception targets determined by the first network device through target perception measurement; Each first information list includes an identifier of a corresponding perception target and a value of a first perception parameter of the corresponding perception target.

24. The method according to claim 23, wherein The second information also includes the number of sensed targets.

25. The method according to claim 17, wherein The matching and grouping of the M perception targets based on the values of the first perception parameters of the M perception targets includes: The M perception targets are matched and grouped based on the values of the first perception parameters of the M perception targets and the first information, where the first information is used for target matching grouping.

26. The method according to claim 19, 20 or 25, characterized in that The first information includes at least one of the following: Minimum resolution distance; Minimum resolution speed; Echo receive power difference threshold; Echo signal energy difference threshold; Echo multipath delay type reference set; Material type reference collection; Echo power attenuation level reference set; A reference collection of section types.

27. A communication device, characterized in that: include: A memory, a transceiver, and a processor, wherein: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program in the memory and perform the following operations: Performing target perception measurement to obtain a value of a first perception parameter of the perceived target; Based on the value of the first perception parameter of the perception target, the perception target is matched and grouped, and the value of the second perception parameter of each group is determined; and / or, the value of the first perception parameter of the perception target is sent to the perception server, and the value of the first perception parameter of the perception target is used for: the perception server matches and groups the perception target, and determines the value of the second perception parameter of each group.

28. A communication device, characterized in that: include: A memory, a transceiver, and a processor, wherein: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program in the memory and perform the following operations: Receive values of first perception parameters of M perception targets sent by N network devices, match and group the M perception targets based on the values of the first perception parameters of the M perception targets, and determine the value of a second perception parameter of each group, where N is a positive integer, M is a positive integer, the N network devices include a first network device, and the M perception targets include perception targets determined by each of the N network devices performing target perception measurement.

29. A processor-readable storage medium, characterized in that: The processor-readable storage medium stores a computer program, which is used to enable the processor to execute the perception method described in any one of claims 1 to 16, or the computer program is used to enable the processor to execute the perception method described in any one of claims 17 to 26.

30. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the method according to any one of claims 1 to 26.

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