Cooperative sensing method, device, medium, product and wireless communication system

Abstract

The invention relates to the technical field of communication, and provides a cooperative sensing method and device, a medium, a product and a wireless communication system. In the method, network equipment establishes a cooperative sensing candidate pool comprising M candidate cooperative sensing terminals in advance, and M is a positive integer. The M candidate cooperative sensing terminals in the cooperative sensing candidate pool all have the cooperative sensing capability, so that when the network equipment receives the first request which is sent by the first terminal equipment and is used for requesting to execute the first sensing task for the second terminal equipment, the first sensing task is executed; the network device can directly select N cooperative sensing terminals from the M candidate cooperative sensing terminals of the cooperative sensing candidate pool to execute the first sensing task, and does not need to execute the operation of detecting the terminal device with the cooperative sensing capability. Therefore, the operation process of cooperative sensing is reduced, the delay of cooperative sensing is reduced, and the efficiency of cooperative sensing is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, and in particular to a cooperative sensing method, device, medium, product and wireless communication system. BACKGROUND

[0002] In a wireless network communication system such as a future 5G or 6G network, more and more scenarios have higher requirements for cooperative sensing, collaborative computing and resource sharing between terminal devices. Especially in a high-speed mobile environment (such as a smart car cluster or a drone formation), some terminal devices cannot independently complete the sensing task due to limitations of location, channel or computing resources, and in this case, the terminal device needs to assist other terminal devices around to complete the sensing task.

[0003] Currently, there are problems of high delay and low efficiency in the terminal device assisting other terminal devices to complete the sensing task. SUMMARY

[0004] Some embodiments of the present application provide a cooperative sensing method, device, medium, product and wireless communication system to solve the problem of high delay and low efficiency in cooperative execution of the sensing task.

[0005] The present application is described below from multiple aspects, and the embodiments and advantages of the following multiple aspects can be mutually referred to.

[0006] In a first aspect, the present application provides a cooperative sensing method applied to a network device, the network device storing a cooperative sensing candidate pool, the cooperative sensing candidate pool including M candidate cooperative sensing terminal devices, wherein M is a positive integer, and the method includes: receiving a first request from a first terminal device, wherein the first request is used to request execution of a first sensing task on a second terminal device; in response to the first request, selecting N cooperative sensing terminal devices from the M candidate cooperative sensing terminal devices, wherein N is a positive integer and N is less than or equal to M; sending first signaling to the N cooperative sensing terminal devices, wherein the first signaling is used to indicate execution of the first sensing task; receiving execution result information of the first sensing task executed by at least one cooperative sensing terminal device from the N cooperative sensing terminal devices; and sending a first sensing result on the second terminal device to the first terminal device according to the received execution result information.

[0007] Since the network device establishes the cooperative sensing candidate pool in advance and stores locally, and each terminal device in the cooperative sensing candidate pool has cooperative sensing capability, when the network device receives the first request sent by the first terminal device for requesting to perform the first sensing task on the second terminal device, the network device can directly select N cooperative sensing terminal devices from the M candidate cooperative sensing terminal devices in the cooperative sensing candidate pool to perform the first sensing task on the second terminal device, without the need to perform the operation of detecting terminal devices having cooperative sensing capability. In this way, the operation process of cooperative sensing is reduced, thereby reducing the delay of cooperative sensing and improving the efficiency of cooperative sensing.

[0008] In some embodiments, the M candidate cooperative sensing terminal devices are determined from the K terminal devices based on device information reported by the K terminal devices, wherein the device information is reported by the K terminal devices after receiving the second signaling from the network device, and K is a positive integer and greater than or equal to M.

[0009] For example, the second signaling can be the signaling S1 mentioned below.

[0010] When the network device establishes the cooperative sensing candidate pool, the network device can send the second signaling to the K terminal devices to instruct the K terminal devices to report respective device information. Then, the network device can select M terminal devices having cooperative sensing capability from the K terminal devices based on the device information of the K terminal devices, and add the M terminal devices to the cooperative sensing candidate pool as candidate cooperative sensing terminal devices.

[0011] In some embodiments, the second signaling includes a first field for indicating a first cooperative sensing condition required by the network device.

[0012] The network device can convey the first cooperative sensing condition required by the network device to the K terminal devices through the first field of the second signaling, to instruct the K terminal devices to reply to the network device whether the first cooperative sensing condition is met, so as to screen out M candidate cooperative sensing terminal devices from the K terminal devices by the network device.

[0013] For example, the first field can be the requiredCapabilityLevel field mentioned below.

[0014] In some embodiments, the first cooperative sensing condition includes: a sensing accuracy satisfying a sensing accuracy condition; and / or, a sensing range greater than or equal to a sensing range threshold; and / or, a sensing delay less than or equal to a sensing delay threshold.

[0015] In some embodiments, the second signaling further comprises a second field, a third field, and / or a fourth field, wherein the second field is used to indicate that the device information is reported at the time when the second signaling is received, or the device information is reported according to a first period, or the device information is reported in response to a trigger event; the third field is used to indicate an event type of the trigger event, and the event type is a movement state change event, a power change event, or a signal strength change event; and the fourth field is used to indicate a valid time duration of the terminal device for reporting the device information this time.

[0016] For example, the second field can be the triggerCondition field mentioned below, the third field can be the eventType field mentioned below, and the fourth field can be the reportValidityDuration field mentioned below.

[0017] The network device can indicate, through the second signaling, that the K terminal devices report the device information at the time when the second signaling is received, or report the device information according to a first period, or report the device information in response to a movement state change event, a power change event, or a signal strength change event, and indicate a valid time duration of the K terminal devices for reporting the device information this time. Within the valid time duration, the K terminal devices do not need to repeatedly report, so as to reduce power consumption caused by repeated reporting of the device information.

[0018] In some embodiments, the device information is reported through third signaling, wherein the third signaling comprises a fifth field used to indicate whether a first cooperative sensing condition required by the network device is met.

[0019] For example, the third signaling can be the signaling S2 mentioned below, and the fifth field can be the capabilityComplianceMask field mentioned below.

[0020] After the K terminal devices receive the second signaling of the network device, the K terminal devices can send third signaling to the network device to inform the network device whether the first cooperative sensing condition is met, so that the network device can establish a cooperative sensing candidate pool based on the first cooperative sensing condition.

[0021] In some embodiments, the third signaling further comprises a sixth field, a seventh field, an eighth field, a ninth field, a tenth field, and / or an eleventh field, wherein the sixth field is used to indicate a time interval in which a sensing task can be performed; the seventh field is used to indicate a movement state; the eighth field is used to indicate a movement direction; the ninth field is used to indicate a movement speed; the tenth field is used to indicate an amount of idle resources; and the eleventh field is used to indicate whether the terminal device is configured to allow the sensing task to be performed.

[0022] For example, the sixth field can be the availableSensingWindow field mentioned below, the seventh field can be the mobilityStatus field mentioned below, the eighth field can be the selfHeadingDeg field mentioned below, the ninth field can be the recentSpeedEstimate field mentioned below, the tenth field can be the sensingPowerBudget field mentioned below, and the eleventh field can be the taskIntentFlag field mentioned below.

[0023] After the K terminal devices receive the second signaling from the network device, the K terminal devices can inform the network device of the time interval, the mobility state, the mobility direction, the mobility speed, the amount of idle resources, and / or whether the K terminal devices are configured to allow execution of the sensing task through third signaling, so that the network device establishes the candidate pool of cooperative sensing based on the information.

[0024] In some embodiments, the M candidate cooperative sensing terminal devices satisfy a first cooperative sensing condition required by the network device.

[0025] The network device can select M terminal devices that satisfy the first cooperative sensing condition from the K terminal devices as candidate cooperative sensing terminal devices, that is, select M terminal devices with high sensing accuracy, large sensing range, and / or low sensing delay as candidate cooperative sensing terminal devices.

[0026] In some embodiments, the N cooperative sensing terminal devices satisfy a second cooperative sensing condition, and the second cooperative sensing condition includes that the amount of idle resources is greater than or equal to the amount of resources required by the first sensing task, and the N cooperative sensing terminal devices are configured to allow execution of the sensing task.

[0027] After the network device receives the first signaling for executing the first sensing task on the second terminal device, the network device can select N cooperative sensing terminal devices from the M candidate cooperative sensing terminal devices in the candidate pool of cooperative sensing, the N cooperative sensing terminal devices having an amount of idle resources greater than or equal to the amount of resources required by the first sensing task and being configured to allow execution of the sensing task. The network device selects the cooperative sensing terminal devices having an amount of idle resources greater than or equal to the amount of resources required by the first sensing task and being configured to allow execution of the sensing task, which can ensure smooth execution of the first sensing task.

[0028] In some embodiments, the first signaling includes a twelfth field for indicating a task type of the first sensing task.

[0029] For example, the first signaling can be the signaling S3 mentioned below, and the twelfth field can be the taskType field mentioned below.

[0030] After the network device selects the N cooperative sensing terminals from the cooperative sensing candidate pool, the network device can inform the N cooperative sensing terminals of the task type of the first sensing task through the first signaling.

[0031] In some embodiments, the task type of the first sensing task includes a position sensing task, a moving trajectory sensing task, a distance sensing task, a moving direction sensing task, a moving speed sensing task, or an acceleration sensing task.

[0032] In some embodiments, the first signaling further includes a thirteenth field, a fourteenth field, a fifteenth field, a sixteenth field, and / or a seventeenth field, wherein the thirteenth field is used to indicate the first identification of the first sensing task; the fourteenth field is used to indicate the valid time length of the first sensing task; the fifteenth field is used to indicate the termination condition of the first sensing task; the sixteenth field is used to indicate the execution time window of the first sensing task; and the seventeenth field is used to indicate the device type, the position, and / or the direction of the second terminal device relative to the network device.

[0033] For example, the thirteenth field can be the sensingTaskID field mentioned below, the fourteenth field can be the ttlMs field mentioned below, the fifteenth field can be the terminationCond field mentioned below, the sixteenth field can be the taskTimeWindow field mentioned below, and the seventeenth field can be the targetObjectInfo field mentioned below.

[0034] After the network device selects the N cooperative sensing terminals from the cooperative sensing candidate pool, the network device can inform the N cooperative sensing terminals of the task type of the first sensing task through the first signaling.

[0035] In some embodiments, the termination condition includes that the sensing accuracy does not satisfy a sensing accuracy condition and / or the first sensing task is executed completely.

[0036] When the sensing accuracy of the N cooperative sensing terminals does not satisfy the sensing accuracy condition and / or the first sensing task is executed completely, the N cooperative sensing terminals terminate the execution of the first sensing task.

[0037] In some embodiments, the perception accuracy condition comprises: a distance perception error is less than a distance perception error threshold; and / or, a speed perception error is less than a speed perception error threshold; and / or, an azimuth angle perception error is less than an azimuth angle perception error threshold; and / or, a pitch angle perception error is less than a pitch angle perception error threshold; and / or, an acceleration perception error is less than an acceleration perception error threshold; and / or, a moving direction perception deviation angle is less than a moving direction perception deviation angle threshold.

[0038] In some embodiments, before sending the first perception result of the second terminal device to the first terminal device according to the received execution result information, the method comprises: at a first time during the movement of the second terminal device, sending a fourth signaling to a third terminal device in a first area to the third terminal device, wherein the first area is a predicted arrival area of the second terminal device after a first time length, the third terminal device is a candidate cooperative perception terminal outside the N cooperative perception terminals in the cooperative perception candidate pool, and the fourth signaling is used to activate the third terminal device and instruct the third terminal device to keep a low power consumption state; at a second time, sending a fifth signaling to the third terminal device, the fifth signaling being used to instruct the third terminal device to perform the first perception task, and the second time is separated from the first time by the first time length; and receiving execution result information of the third terminal device performing the first perception task.

[0039] For example, the fourth signaling can be the signaling S4 mentioned below, and the fifth signaling can be the signaling S5 mentioned below.

[0040] In the scenario where the second terminal device is in a moving state, at a first time, the network device can predict a first area where the second terminal device will arrive after a first time length, and send a fourth signaling to a third terminal device in the first area to activate the third terminal device and instruct the third terminal device to keep a low power consumption state. After the first time length, at a second time, the network device can send a fifth signaling to the third terminal device to instruct the third terminal device to exit the low power consumption state and perform the first perception task to replace the cooperative perception terminal that has lost the perception ability for the second terminal device. After the third terminal device performs the first perception task, the third terminal device sends the execution result of the first perception task to the network device, which is then forwarded to the first terminal device.

[0041] By activating the third terminal device in advance and instructing the third terminal device to be in the low-power-consumption state, the delay of switching the cooperative sensing terminal can be reduced, and interruption of the first sensing task or higher delay can be avoided. In this way, the network device can activate multiple terminal devices in the first area in advance and instruct the multiple terminal devices to be in the low-power-consumption state, to form an interruption risk buffer pool. In this way, when the second terminal device arrives at the first area, the network device can immediately switch the cooperative sensing terminal performing the first sensing task to a terminal device in the interruption risk buffer pool. In this way, the switching speed of the cooperative sensing terminal can be improved, the switching delay can be reduced, and interruption of the cooperative sensing link, that is, interruption of the first sensing task, can be avoided.

[0042] In some embodiments, the first area is determined based on a predicted moving track of the second terminal device and / or execution result information of the first sensing task, and the execution result information includes a moving speed, a moving direction, an acceleration, and a position of the second terminal device. In some embodiments, the predicted moving track is determined based on a historical moving track of the second terminal device, and the historical moving track is determined based on historical moving track information from the second terminal device.

[0043] In the process of moving of the second device, the network device can obtain the historical track information uploaded by the second terminal device from a traffic platform, a multi-access edge computing (MEC) service platform, or other platforms, or can directly receive the historical track information returned by the second terminal device, and then determine the historical track of the second terminal device based on the historical track information of the second terminal device. Then, after the network device receives the execution result information sent by the at least one cooperative sensing terminal after the first sensing task is performed, the network device predicts the first area that the second terminal device is likely to arrive at after a first time length based on the historical moving track of the second terminal device and / or the moving speed, the moving direction, the acceleration, and the position of the second terminal device in the execution result information.

[0044] In some embodiments, the fourth signaling includes an eighteenth field for indicating entering the low-power-consumption state.

[0045] For example, the eighteenth field can be a preConfigurationFlag field mentioned below.

[0046] The network device can instruct the third terminal device to enter the low-power-consumption state through the eighteenth field of the fourth signaling, so as to reduce power consumption and be ready to perform the first sensing task at any time.

[0047] In some embodiments, the fourth signaling further comprises a nineteenth field, a twentieth field, a twenty-first field, and / or a twenty-second field, wherein the nineteenth field is used to indicate to listen to the fifth signaling; the twentieth field is used to indicate a listening intensity and a listening period; the twenty-first field is used to indicate task configuration information of the first sensing task; and the twenty-second field is used to indicate a second identifier of the fourth signaling.

[0048] For example, the nineteenth field can be the activationPagingIndication field mentioned below, the twentieth field can be the lightListenHint field mentioned below, the twenty-first field can be the preConfiguredTaskContent field mentioned below, and the twenty-second field can be the preConfigurationID field mentioned below.

[0049] In some embodiments, the fifth signaling comprises a twenty-third field used to indicate to perform the first sensing task.

[0050] For example, the twenty-third field can be the activationFlag field mentioned below.

[0051] The network device can indicate the third terminal device to perform the first sensing task through the twenty-third field in the fifth signaling.

[0052] In some embodiments, the fifth signaling further comprises a twenty-fourth field and / or a twenty-fifth field, wherein the twenty-fourth field is used to indicate the second identifier of the fourth signaling; and the twenty-fifth field is used to indicate an execution time window of the first sensing task.

[0053] For example, the twenty-fourth field can be the taskActivationID field mentioned below, and the twenty-fifth field can be the activationTimingHint field mentioned below.

[0054] The network device can send the second identifier of the fourth signaling and the execution time window of the first sensing task to the third terminal device through the fifth signaling, so that the third terminal device can query the task configuration information of the first sensing task in the fourth signaling received before based on the second identifier, and then perform the first sensing task within the execution time window of the first sensing task according to the corresponding resource configured by the task configuration information.

[0055] In some embodiments, the first sensing result comprises a position, a moving track, a distance, a moving direction, a moving speed, and / or an acceleration of the second terminal device.

[0056] After the network device receives the execution result information of the first perception task, the network device determines the position, the moving track, the distance, the moving direction, the moving speed and / or the acceleration of the second terminal device according to the received execution result information of the first perception task, and sends the position, the moving track, the distance, the moving direction, the moving speed and / or the acceleration of the second terminal device to the first terminal device, so that the first terminal device can perceive the state of the second terminal device.

[0057] In a second aspect, the present application provides a cooperative perception method applied to a cooperative perception terminal, the method comprising: receiving a first signaling from a network device, the first signaling being used to instruct to perform a first perception task on a second terminal device, wherein the network device stores a cooperative perception candidate pool, the cooperative perception candidate pool comprising M candidate cooperative perception terminals, M being a positive integer, and the first signaling being sent by the network device after selecting a cooperative perception terminal from the M candidate cooperative perception terminals in response to a first request from a first terminal device; performing the first perception task in response to the first signaling; and sending execution result information of the first perception task to the network device.

[0058] After the network device receives the first request sent by the first terminal device for performing the first perception task on the second terminal device, the network device can select a corresponding cooperative perception terminal from the M candidate cooperative perception terminals in the pre-established and stored cooperative perception candidate pool in response to the first request, and send a first signaling to the cooperative perception terminal. Then, the cooperative perception terminal performs the first perception task in response to the first signaling, and sends execution result information of the first perception task to the network device after performing the first perception task, and the network device sends the execution result information to the first terminal device.

[0059] The cooperative perception terminal assisting the first terminal device to perceive the second terminal device can improve the perception accuracy of the second terminal device.

[0060] In some embodiments, before receiving the first signaling from the network device, the method comprises: receiving a second signaling from the network device; and sending device information of the cooperative perception terminal device to the network device, the device information being used to instruct the network device to establish the cooperative perception candidate pool.

[0061] Before the cooperative perception terminal receives the first signaling from the network device, when the cooperative perception terminal receives a second signaling from the network device, the cooperative perception terminal can send device information of the cooperative perception terminal to the network device in response to the second signaling, so as to instruct the network device to establish the cooperative perception candidate pool.

[0062] In some embodiments, the second signaling comprises: a first field for indicating a first cooperative sensing condition required by the network device; and the device information is reported through third signaling, wherein the third signaling comprises: a fifth field for indicating whether the cooperative sensing terminal satisfies the first cooperative sensing condition; the first cooperative sensing condition comprises: a sensing accuracy satisfying a sensing accuracy condition; and / or, a sensing range being greater than or equal to a sensing range threshold; and / or, a sensing delay being less than or equal to a sensing delay threshold.

[0063] After the cooperative sensing terminal receives the second signaling sent by the network device and confirms the first cooperative sensing condition required by the network device through the second signaling, the cooperative sensing terminal can report to the network device through the third signaling whether the cooperative sensing terminal satisfies the first cooperative sensing condition, such as whether the sensing accuracy satisfies the sensing accuracy condition, whether the sensing range is greater than or equal to the sensing range threshold, and / or whether the sensing delay is less than or equal to the sensing delay threshold.

[0064] In some embodiments, the third signaling further comprises a sixth field, a seventh field, an eighth field, a ninth field, a tenth field, and / or an eleventh field, wherein the sixth field is for indicating a time interval in which the sensing task can be performed; the seventh field is for indicating a moving state; the eighth field is for indicating a moving direction; the ninth field is for indicating a moving speed; the tenth field is for indicating an amount of idle resources; and the eleventh field is for indicating whether the cooperative sensing terminal is configured to allow the sensing task to be performed.

[0065] After the cooperative sensing terminal receives the second signaling sent by the network device, the cooperative sensing terminal can further report to the network device through the third signaling the information of the time interval in which the sensing task can be performed, the moving state, the moving direction, the moving speed, the amount of idle resources, and whether the cooperative sensing terminal is configured to allow the sensing task to be performed, so as to facilitate the network device to establish a cooperative sensing candidate pool.

[0066] In a third aspect, the present application provides an electronic device, comprising: a memory for storing instructions; and a processor, when the processor executes the instructions in the memory, can make the electronic device perform the cooperative sensing method of any of the embodiments of the first aspect or the second aspect. The beneficial effects achieved by the third aspect can refer to the beneficial effects of the method provided by any of the embodiments of the first aspect or the second aspect, which will not be repeated here.

[0067] In a fourth aspect, the present application provides a computer-readable storage medium, and the computer-readable storage medium stores instructions, which, when executed on a computer, can make the computer perform the cooperative sensing method of any of the embodiments of the first aspect or the second aspect. The beneficial effects achieved by the fourth aspect can refer to the beneficial effects of the method provided by any of the embodiments of the first aspect or the second aspect, which will not be repeated here.

[0068] In a fifth aspect, the present application provides a computer program product, which comprises computer program codes, and when the computer program codes are run on a computer, the computer is caused to implement the cooperative sensing method of any of the embodiments of the first aspect or the second aspect. The beneficial effects achieved by the fifth aspect can refer to the beneficial effects of the method provided by any of the embodiments of the first aspect or the second aspect, which will not be repeated here.

[0069] In a sixth aspect, the present application provides a wireless communication system, which comprises a network device and a cooperative sensing terminal, the network device is configured to perform the cooperative sensing method of any of the embodiments of the first aspect, and the cooperative sensing terminal is configured to perform the cooperative sensing method of any of the embodiments of the second aspect. The beneficial effects achieved by the sixth aspect can refer to the beneficial effects of the method provided by any of the embodiments of the first aspect or the second aspect, which will not be repeated here.

[0070] In a seventh aspect, the present application provides a chip, which comprises a processor configured to read and execute computer programs stored in a memory to perform the cooperative sensing method of any of the embodiments of the first aspect or the second aspect. The beneficial effects achieved by the seventh aspect can refer to the beneficial effects of the method provided by any of the embodiments of the first aspect or the second aspect, which will not be repeated here.

[0071] In an eighth aspect, the present application provides a first cooperative sensing device, which stores a cooperative sensing candidate pool, and the cooperative sensing candidate pool comprises M candidate cooperative sensing terminals, wherein M is a positive integer. The first cooperative sensing device comprises: a first receiving module configured to receive a first request from a first terminal device, wherein the first request is configured to request to perform a sensing task on a second terminal device; a selection module configured to select N cooperative sensing terminals from the M candidate cooperative sensing terminals in response to the first request, wherein M and N are both positive integers, and N is less than or equal to M; a first sending module configured to send first signaling to the N cooperative sensing terminals, wherein the first signaling is configured to instruct to perform the sensing task; a second receiving module configured to receive execution result information of the sensing task performed by at least one of the N cooperative sensing terminals; a second sending module configured to send a first sensing result of the second terminal device to the first terminal device according to the received execution result information.

[0072] The beneficial effects achieved by the eighth aspect can refer to the beneficial effects of the method provided by any of the embodiments of the first aspect, which will not be repeated here.

[0073] In a ninth aspect, the present application provides a second cooperative sensing device, which comprises: a third receiving module, configured to receive first signaling from a network device, wherein the network device stores a cooperative sensing candidate pool including M candidate cooperative sensing terminals, M is a positive integer, and the first signaling is sent by the network device after selecting a cooperative sensing terminal from the M candidate cooperative sensing terminals in response to a first request from a first terminal device, and the first request is used to request to perform a first sensing task on a second terminal device; a performing module, configured to perform the first sensing task in response to the first signaling; a third sending module, configured to send execution result information of the first sensing task to the network device.

[0074] The beneficial effects of the ninth aspect can refer to the beneficial effects of the method provided by any of the embodiments of the second aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0075] Figure 1 According to some embodiments of the present application, a scenario diagram of multi-device cooperative sensing is shown; Figure 2 According to some embodiments of the present application, a flowchart of a method for establishing a cooperative sensing candidate pool is shown; Figure 3 According to some embodiments of the present application, another scenario diagram of multi-device cooperative sensing is shown; Figure 4 According to some embodiments of the present application, a flowchart of a cooperative sensing method is shown; Figure 5 According to some embodiments of the present application, another flowchart of a cooperative sensing method is shown; Figure 6 According to some embodiments of the present application, another flowchart of a cooperative sensing method is shown; Figure 7 According to some embodiments of the present application, another scenario diagram of multi-device cooperative sensing is shown; Figure 8 According to some embodiments of the present application, another scenario diagram of multi-device cooperative sensing is shown; Figure 9 According to some embodiments of the present application, another flowchart of a cooperative sensing method is shown; Figure 10 According to some embodiments of the present application, another scenario diagram of multi-device cooperative sensing is shown; Figure 11 According to some embodiments of the present application, another scenario diagram of multi-device cooperative sensing is shown; Figure 12 According to some embodiments of the present application, a structural schematic diagram of an electronic device is shown; Figure 13 According to some embodiments of this application, a schematic diagram of the structure of a first cooperative sensing device is shown; Figure 14 According to some embodiments of this application, a schematic diagram of the structure of a second cooperative sensing device is shown. Detailed Implementation

[0076] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the protection scope of this application.

[0077] In the description of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0078] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0079] To facilitate understanding, the terms used in this application will be explained below.

[0080] (1) Perception Perception refers to the process by which a sensing device (a device with sensing capabilities) collects state information about a sensing target (the object being sensed) through sensors. It can also refer to the sensing device receiving state information from the sensing target via wireless communication. The state information of the sensing target includes, but is not limited to, its movement state, direction of movement, speed, acceleration, distance, and / or position.

[0081] It can be understood that the perception mode includes, but is not limited to, light perception, sound perception and radio wave perception. Light perception refers to a perception mode for detecting a perception target by using visible light or non-visible light, such as detecting a perception target by using a camera, an infrared sensor and a laser radar and the like. Sound perception refers to a perception mode for detecting a perception target by using a sound wave, such as detecting a perception target by using an ultrasonic sensor. Radio wave perception refers to a perception mode for detecting a perception target by using a radio wave, such as detecting a perception target by using a millimeter wave radar.

[0082] Embodiments of the present application are applied to a wireless communication system, which can be a third generation (3G) communication system, a long term evolution (LTE) system, a fifth generation (5G) communication system, a hybrid architecture of LTE and 5G, a 5G new radio (5G NR) system, or a new communication system to be developed in the future.

[0083] The wireless communication system can include a network device and a user equipment (UE). The network device can be a device used for providing network communication function on the network side, and is also referred to as a network device or a network element in some cases. The network device can generally be a base station (including a functional unit of the base station or a combination of functional units of the base station) or a core network unit. The core network unit can be a functional unit in the core network, including but not limited to an access and mobility management function (AMF) unit or a session management function (SMF) unit.

[0084] It should be noted that the network device in the embodiments of the present application can be any device that can provide network access services, including but not limited to routers, base stations, high-altitude platforms, satellites, and the like. For example, the network device can be a radio access network (RAN) node, a NodeB, an evolved NodeB (eNB), a next generation NodeB (gNB), a relay station, an access point, a transmitting and receiving point (TRP), a transmitting point (TP), a master station, a secondary station, a multi-mode wireless node, a home base station, a network controller, an access node, an access point, a transmission node, a transceiver node, a baseband unit, a radio remote unit, an active antenna unit, a radio frequency head, a central unit, a distributed unit, a positioning node, and the like, a base station in a mobile communication system (such as 3G / 4G / 5G / 5.5G / 6G or future mobile communication systems), a module or unit that completes part of the function of the base station, a centralized unit (CU) or a distributed unit (DU). The embodiments of the present application do not limit the specific technology and specific device form adopted by the network device.

[0085] In the embodiments provided in the present application, the UE includes but is not limited to a mobile phone, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a vehicle-mounted terminal, a wireless terminal in self driving (such as a wireless terminal in a drone), a wireless terminal in remote medical treatment, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a wearable terminal device, and the like.

[0086] The present application is applied to various types of multi-device cooperative sensing scenarios, such as mobile sensing task relay cooperative scheduling in urban road traffic scenarios, cross-region cooperative sensing link planning and switching in unmanned aerial vehicle cluster environments, multi-terminal cooperative sensing in rail transportation (such as high-speed rail, subway, etc.) scenarios, and path perception and dynamic relay perception of logistics distribution robots in warehouse parks.

[0087] Figure 1 According to some embodiments of the present application, a scenario graph of multi-device cooperative perception is shown.

[0088] As shown in Figure 1 wireless communication system 10 includes a base station 01, a vehicle terminal of a first vehicle 02, a vehicle terminal of a second vehicle 03, a mobile phone 04 and a vehicle terminal of a third vehicle 05. The vehicle terminal of the first vehicle 02, the vehicle terminal of the second vehicle 03 and the vehicle terminal of the third vehicle 05 and the mobile phone 04 all establish wireless communication connection with the base station 01, and the vehicle terminal of the first vehicle 02, the vehicle terminal of the second vehicle 03 and the vehicle terminal of the third vehicle 05 all establish wireless communication connection with the vehicle terminal of a fourth vehicle 06. No wireless communication connection is established between the mobile phone 04 and the vehicle terminal of the fourth vehicle 06. The perception accuracy of the vehicle terminal of the first vehicle 02 and the vehicle terminal of the second vehicle 03 to the vehicle terminal of the fourth vehicle 06 is low. The perception accuracy of the vehicle terminal of the third vehicle 05 to the vehicle terminal of the fourth vehicle 06 is high. The mobile phone 04 does not have the perception ability to the vehicle terminal of the fourth vehicle 06.

[0089] When the vehicle terminal of the fourth vehicle 06 is the perception target of the vehicle terminal of the second vehicle 03, the vehicle terminal of the second vehicle 03 can send a cooperative perception request to the base station 01 as a perception task initiation terminal. After receiving the cooperative perception request, the base station 01 needs to first select terminal devices with perception ability from the vehicle terminal of the first vehicle 02, the vehicle terminal of the third vehicle 05 and the mobile phone 04 as candidate cooperative perception terminals, such as the vehicle terminal of the first vehicle 02 and the vehicle terminal of the third vehicle 05, and then select the vehicle terminal of the third vehicle 05 with idle resources to the vehicle terminal of the fourth vehicle 06 from the vehicle terminal of the first vehicle 02 and the vehicle terminal of the third vehicle 05 as a cooperative perception terminal, and request the vehicle terminal of the third vehicle 05 to execute the perception task to the vehicle terminal of the fourth vehicle 06. After the vehicle terminal of the third vehicle 05 completes the perception task, the vehicle terminal of the third vehicle 05 can send the execution result of the perception task (such as the position, moving direction, moving speed and / or acceleration of the vehicle terminal of the fourth vehicle 06, etc.) to the vehicle terminal of the second vehicle 03 through the base station 01 to assist the vehicle terminal of the second vehicle 03 to perceive the state of the vehicle terminal of the fourth vehicle 06.

[0090] In the above scenario, the selection process for candidate cooperative sensing terminals introduces a certain delay, thereby reducing the execution efficiency of the sensing task. In view of this, embodiments of this application provide a cooperative sensing method. In this method, a network device (such as base station 01) can pre-establish a cooperative sensing candidate pool. Thus, when the network device receives a cooperative sensing request sent by a first terminal device, the network device can immediately select a cooperative sensing terminal from the candidate cooperative sensing terminals in the pool to assist the first terminal device in performing the sensing task for the second terminal device, without needing to perform the operation of detecting candidate cooperative sensing terminals with cooperative sensing capabilities. This reduces the operational steps of cooperative sensing, thereby reducing the latency of cooperative sensing and improving its efficiency.

[0091] The following section describes the process of establishing the collaborative sensing candidate pool.

[0092] Figure 2 According to some embodiments of this application, a flowchart of a method for establishing a collaborative sensing candidate pool is shown.

[0093] like Figure 2 As shown, the process includes: S101: The network device sends signaling S1 to K terminal devices, where signaling S1 is used to instruct the reporting of device information.

[0094] In some embodiments, the network device may periodically send signaling S1 to K terminal devices in the cell, or it may send signaling S1 to K terminal devices in the cell when it receives a request to establish a cooperative awareness candidate pool, so as to instruct the K terminal devices in the cell to report their respective device information.

[0095] For example, such as Figure 3 As shown, base station 01 can send signaling S1 to terminal devices in the cell, such as the vehicle-mounted terminal of the first vehicle 02, the vehicle-mounted terminal of the third vehicle 05, the vehicle-mounted terminal of the fifth vehicle 07, the vehicle-mounted terminal of the sixth vehicle 08, and mobile phone 04, to instruct them to report their respective device information.

[0096] It is understandable that signaling S1 (as the second signaling) can be radio resource control reconfiguration (RRCReconfiguration) signaling or other types of signaling.

[0097] In some embodiments, signaling S1 includes a SensingCapabilityRequestConfig field. The SensingCapabilityRequestConfig field is used to indicate the reporting of device information.

[0098] In some embodiments, the device information comprises whether a first cooperative sensing condition of network device requirements is met, a time interval in which a sensing task can be performed, a moving state, a moving direction, a moving speed, an amount of idle resources, and whether configured to allow the sensing task to be performed (i.e., whether there is a cooperative sensing willingness), etc.

[0099] It can be understood that the amount of idle resources is the amount of resources in an idle state and available for performing a sensing task. In the embodiments of the present application, the resources available for performing a sensing task include, but are not limited to, communication resources (such as bandwidth resources and signal transmission power, etc.), computing resources (such as processor computing power resources and storage resources, etc.), sensor resources (such as the aforementioned sensor resources for light sensing, sound sensing, and radio wave sensing), and energy resources (such as power), etc.

[0100] In some embodiments, the first cooperative sensing condition comprises at least one of the following: (1) The sensing accuracy meets a sensing accuracy condition.

[0101] In some embodiments, the sensing accuracy condition comprises that a distance sensing error is less than a distance sensing error threshold, a speed sensing error is less than a speed sensing error threshold, an azimuth angle sensing error is less than an azimuth angle sensing error threshold, a pitch angle sensing error is less than a pitch angle sensing error threshold, an acceleration sensing error is less than an acceleration sensing error threshold, and / or a moving direction sensing deviation angle is less than a moving direction sensing deviation angle threshold.

[0102] (2) The sensing range is greater than or equal to a sensing range threshold.

[0103] The sensing range can be the detection range of a sensor, or it can also be the signal coverage range of wireless communication. It can be understood that the sensing range threshold can be set according to actual needs, which is not limited herein.

[0104] (3) The sensing delay is less than or equal to a sensing delay threshold.

[0105] The sensing delay is the response delay of the terminal device performing a sensing task. It can be understood that the sensing delay threshold can be set according to actual scene needs, which is not limited herein.

[0106] In some embodiments, the SensingCapabilityRequestConfig field is provided with a requiredCapabilityLevel field (as a first field). In other embodiments, the SensingCapabilityRequestConfig field is further provided with a triggerCondition field (as a second field), an eventType field (as a third field), and / or a reportValidityDuration field (as a fourth field).

[0107] For example, as shown in Table 1 below, the SensingCapabilityRequestConfig field is provided with a requiredCapabilityLevel field, a triggerCondition field, an eventType field, and a reportValidityDuration field.

[0108] The requiredCapabilityLevel field is used to indicate a first cooperative sensing condition required by the network device.

[0109] The triggerCondition field is used to indicate reporting device information at the time of receiving the signaling S1 (i.e., immediately reporting device information), or indicating reporting device information according to a first period (such as 5 minutes, 10 minutes, or 25 minutes, etc.), or indicating reporting device information in response to a trigger event.

[0110] The eventType field is used to indicate an event type of the trigger event, such as a mobile state change event, a power change event, or a signal strength change event.

[0111] The reportValidityDuration field is used to indicate a valid duration of the device information reported this time. It can be understood that within the valid duration, the terminal device does not need to repeatedly report device information, so as to reduce the power consumption caused by repeated reporting of device information.

[0112] Table 1

[0113] The signaling S1 can make the network device accurately schedule K terminal devices to report sensing capabilities by carrying the fields shown in Table 1, avoid blind broadcasting and redundant reporting, and improve signaling efficiency and effectiveness of the cooperative sensing candidate pool.

[0114] S102: The K terminal devices send a first confirmation signaling to the network device, wherein the first confirmation signaling is used to indicate successful reception of the signaling S1.

[0115] It is understandable that the first confirmation signaling can be radio resource control reconfiguration (RRCReconfigurationComplete) signaling or other types of signaling.

[0116] In some embodiments, after the K terminal devices successfully receive the signaling S1 sent by the network device, the K terminal devices may send a first confirmation signaling to the network device to notify the network device that the signaling S1 has been successfully received.

[0117] S103: K terminal devices send signaling S2 to the network device, where signaling S2 includes device information.

[0118] It is understandable that signaling S2 (as a third signaling) can be RRCReconfiguration signaling or other types of signaling.

[0119] In some embodiments, the triggerCondition field of the signaling S1 received by the K terminal devices indicates that device information should be reported at the moment signaling S1 is received. In this case, the K terminal devices immediately send signaling S2 to the network device upon receiving signaling S1.

[0120] For example, such as Figure 3 As shown, when the triggerCondition field of signaling S1 indicates that the device information should be reported at the moment signaling S1 is received, the vehicle-mounted terminal of the first vehicle 02, the vehicle-mounted terminal of the third vehicle 05, the vehicle-mounted terminal of the fifth vehicle 07, the vehicle-mounted terminal of the sixth vehicle 08, and the mobile phone 04 immediately report their respective device information to the base station 01 upon receiving signaling S1.

[0121] In other embodiments, the triggerCondition field of the signaling S1 received by the K terminal devices indicates that device information should be reported according to a first cycle. In this case, the K terminal devices periodically send signaling S2 to the network device according to the first cycle.

[0122] In some other embodiments, the triggerCondition field of the signaling S1 received by the K terminal devices indicates the case where device information is reported in response to a trigger event: If the eventType field indicates that the event type of the triggering event is a mobility status change event, the K terminal devices can send signaling S2 to the network device upon detecting a mobility status change event (such as an event of changing from a stationary state to a moving state, an event of changing from a low-speed moving state to a high-speed moving state, or an event of changing from a high-speed moving state to a low-speed moving state, etc.). If the eventType field indicates that the event type of the triggering event is a power change event, the K terminal devices can send signaling S2 to the network device upon detecting a power change event (such as an event of entering a low-power state from a normal power state, or an event of entering a normal power state from a low-power state, etc.). If the eventType field indicates that the event type of the triggering event is a signal strength change event, the K terminal devices can send signaling S2 to the network device upon detecting a signal strength change event (such as an event of changing from a higher state to a lower state of signal strength, or an event of changing from a lower state to a higher state of signal strength, etc.).

[0123] In some embodiments, the signaling S2 includes a sensingAssistanceInfo field for indicating device information.

[0124] In some embodiments, the sensingAssistanceInfo field is further provided with a capabilityComplianceMask field (as a fifth field). In other embodiments, the sensingAssistanceInfo field is further provided with an availableSensingWindow field (as a sixth field), a mobilityStatus field (as a seventh field), a selfHeadingDeg field (as an eighth field), a recentSpeedEstimate field (as a ninth field), a sensingPowerBudget field (as a tenth field), and / or a taskIntentFlag field (as an eleventh field).

[0125] For example, as shown in Table 2, the sensingAssistanceInfo field is provided with the capabilityComplianceMask field, the availableSensingWindow field, the mobilityStatus field, the selfHeadingDeg field, the recentSpeedEstimate field, the sensingPowerBudget field, and the taskIntentFlag field.

[0126] The capabilityComplianceMask field is used to indicate whether the first cooperative sensing condition is met.

[0127] The availableSensingWindow field is used to indicate the time interval in which the sensing task can be performed.

[0128] The mobilityStatus field is used to indicate the mobility status, such as stationary, low speed, high speed, etc., and is used to evaluate the stability of the terminal device as a cooperative sensing terminal.

[0129] The selfHeadingDeg field is used to indicate the moving direction, and is used to facilitate the network device to determine whether it is suitable to participate in performing the sensing task in combination with the area where the sensing target is located.

[0130] The recentSpeedEstimate field is used to indicate the moving speed, and is used to facilitate the network device to determine whether the terminal device is suitable for the current motion scene.

[0131] The sensingPowerBudget field is used to indicate the amount of idle resources, and is used to facilitate the network device to determine whether the amount of idle resources that the terminal device can allocate to the sensing task is sufficient to perform the sensing task.

[0132] The taskIntentFlag field is used to indicate whether it is configured to allow the sensing task to be performed, i.e., whether there is a willingness to participate in performing the sensing task, and is used to facilitate the network device to perform screening based on the willingness.

[0133] Table 2

[0134] It can be understood that the mobility status, moving direction and moving speed indicated by the mobilityStatus field, selfHeadingDeg field and recentSpeedEstimate field in sequence are suitable for high mobility scenarios, which helps the network device to more accurately determine whether the terminal device is suitable as a stable sensing node (i.e., a cooperative sensing terminal), thereby improving the effectiveness of the cooperative sensing candidate pool and the continuity of the cooperative sensing task.

[0135] S104: The network device selects M terminal devices as candidate cooperative sensing terminals from the K terminal devices according to the device information reported by the K terminal devices, and establishes a cooperative sensing candidate pool, wherein K and M are positive integers, and M is less than or equal to K.

[0136] In some embodiments, after the network device receives the device information reported by the K terminal devices, the network device can select M terminal devices that satisfy the first cooperative sensing condition from the K terminal devices as candidate cooperative sensing terminals and add them to the cooperative sensing candidate pool, and then store the cooperative sensing candidate pool locally.

[0137] As shown in Figure 3 , the base station 01 determines, according to the device information reported by the on-board terminal of the first vehicle 02, the on-board terminal of the third vehicle 05, the on-board terminal of the fifth vehicle 07, the on-board terminal of the sixth vehicle 08 and the mobile phone 04, that the on-board terminal of the first vehicle 02, the on-board terminal of the third vehicle 05, the on-board terminal of the fifth vehicle 07 and the on-board terminal of the sixth vehicle 08 meet the first cooperative perception condition, while the mobile phone 04 does not meet the first cooperative perception condition, and adds the on-board terminal of the first vehicle 02, the on-board terminal of the third vehicle 05, the on-board terminal of the fifth vehicle 07 and the on-board terminal of the sixth vehicle 08 as candidate cooperative perception terminals to the established cooperative perception candidate pool and stores them locally.

[0138] It can be understood that S102 is an optional step, that is, in other embodiments, S102 can also not be executed.

[0139] It can be understood that after the K terminal devices receive the signaling S1 sent by the network device, in addition to reporting the device information shown in Table 2 to the network device, the K terminal devices can also report the sensing range, sensing accuracy, moving direction, moving state, moving speed, acceleration and / or position to the network device, so that the network device can select suitable cooperative perception terminal devices to perform corresponding sensing tasks according to these information.

[0140] After the network device establishes the cooperative perception candidate pool, since the candidate cooperative perception terminals in the cooperative perception candidate pool all have sensing capabilities, when the network device receives a cooperative perception request, the network device does not need to detect terminal devices with cooperative perception capabilities in the cell again, and can directly select suitable cooperative perception terminals from the candidate cooperative perception terminals in the cooperative perception candidate pool to perform corresponding cooperative perception tasks. In this way, the response speed of the network device can be improved, thereby improving the pointing efficiency of the cooperative perception task, that is, the execution efficiency of the cooperative perception task is improved by pre-selecting terminal devices with cooperative perception capabilities.

[0141] The execution process of the cooperative perception task is introduced below.

[0142] Figure 4 According to some embodiments of the present application, a flowchart of a cooperative perception method is shown.

[0143] As shown in Figure 4 , the flowchart includes: S201: The first terminal device sends a first request to the network device, wherein the first request is used to request to perform a first sensing task on a second terminal device.

[0144] In some embodiments, when the first terminal device needs other terminal devices to assist in sensing the second terminal device, the first terminal device can send a first request (i.e., a cooperative sensing request) to the network device as a sensing task initiation terminal to request the network device to call other terminal devices to assist the first terminal device in performing the first sensing task on the second terminal device.

[0145] In some embodiments, the first request can include information such as the movement state, movement direction, position, movement speed, and acceleration of the first terminal device.

[0146] For example, as shown in FIG. 3, when the on-board terminal of the second vehicle 03 (as an example of the first terminal device) needs other terminal devices to assist in sensing the on-board terminal of the fourth vehicle 06 (as an example of the second terminal device), the on-board terminal of the second vehicle 03 can send a first request to the base station 01 to request the base station 01 to call other terminal devices to assist the on-board terminal of the second vehicle 03 in performing the first sensing task on the on-board terminal of the fourth vehicle 06. Figure 3

[0147] S202: The network device selects N cooperative sensing terminal devices from the M candidate cooperative sensing terminal devices in the cooperative sensing candidate pool in response to the first request, where N is a positive integer and N is less than or equal to M.

[0148] In some embodiments, after the network device receives the first request sent by the first terminal device, the network device can select N cooperative sensing terminal devices that satisfy the second cooperative sensing condition from the M candidate cooperative sensing terminal devices in the pre-established cooperative sensing candidate pool in response to the first request, for assisting the first terminal device in performing the sensing task on the second terminal device.

[0149] In some embodiments, the second cooperative sensing condition includes that the amount of idle resources is greater than or equal to the amount of resources required by the first sensing task, and is configured to allow the sensing task to be performed.

[0150] In other embodiments, the second cooperative sensing condition can also include that the position of the second terminal device is within the sensing range of the cooperative sensing terminal device.

[0151] For example, as shown in FIG. 3, since the on-board terminal of the fourth vehicle 06 is within the sensing range of the on-board terminal of the first vehicle 02 and the on-board terminal of the third vehicle 05, but not within the sensing range of the on-board terminal of the fifth vehicle 07 and the on-board terminal of the sixth vehicle 08, the base station 01 can select the on-board terminal of the first vehicle 02 and the on-board terminal of the third vehicle 05 as cooperative sensing terminal devices. Figure 3

[0152] ​​S203: The network device sends signaling S3 to N cooperative sensing terminals, wherein signaling S3 is used to instruct the execution of the first sensing task.

[0153] It is understandable that signaling S3 can be RRCReconfiguration signaling or other types of signaling.

[0154] In some embodiments, after the network device selects N cooperative sensing terminals from M candidate cooperative sensing terminals in the cooperative sensing candidate pool, the network device may send signaling S3 (as first signaling) to the N cooperative sensing terminals to instruct the N cooperative sensing terminals to perform a first sensing task.

[0155] For example, such as Figure 3 As shown, after base station 01 selects the vehicle-mounted terminal of the first vehicle 02 and the vehicle-mounted terminal of the third vehicle 05 as cooperative sensing terminals, base station 01 can send signaling S3 to the vehicle-mounted terminal of the first vehicle 02 and the vehicle-mounted terminal of the third vehicle 05 to instruct the vehicle-mounted terminal of the first vehicle 02 and the vehicle-mounted terminal of the third vehicle 05 to perform the first sensing task for the vehicle-mounted terminal of the fourth vehicle 06.

[0156] In some embodiments, signaling S3 includes a taskType field (as the twelfth field). In other embodiments, signaling S3 also includes a sensingTaskID field (as the thirteenth field), a ttlMs field (as the fourteenth field), a terminationCond field (as the fifteenth field), a taskTimeWindow field (as the sixteenth field), and / or a targetObjectInfo field (as the seventeenth field).

[0157] For example, as shown in Table 3 below, signaling S3 includes the taskType field, sensingTaskID field, ttlMs field, terminationCond field, taskTimeWindow field, and targetObjectInfo field.

[0158] The `taskType` field indicates the task type of the first sensing task. Task types include, but are not limited to, location sensing tasks, movement trajectory sensing tasks, distance sensing tasks, movement direction sensing tasks, movement speed sensing tasks, or acceleration sensing tasks.

[0159] The sensingTaskID field is used to indicate the first identifier of the first sensing task. This first identifier is configured by the network device for the first sensing task to distinguish it from other sensing tasks and prevent confusion when the network device receives multiple sensing tasks.

[0160] The ttlMs field is used to indicate the valid duration of the first perception task, and the role is to instruct the device to release the resource used for executing the first perception task when the duration of receiving the signaling S3 reaches the valid duration of the first perception task.

[0161] The terminationCond field is used to indicate the termination condition of the first perception task. In some embodiments, the termination condition includes that the perception accuracy does not meet the perception accuracy condition and / or the first perception task is executed completely.

[0162] The taskTimeWindow field is used to indicate the execution time window of the first perception task, that is, the time period from the starting execution time to the ending execution time of the first perception task.

[0163] The targetObjectInfo field is used to indicate the device type, position and / or direction of the second terminal device relative to the network device, so as to guide the cooperative perception terminal to adjust the perception attention area (such as the area where the second terminal device is located) and the processing strategy.

[0164] Table 3

[0165] In some embodiments, as shown in Table 3, the signaling S3 can also include some information related to the perception resource configuration, such as the sampling frequency (the frequency of detecting the perception target, that is, the perception frequency), the aggregation window length at the time of reporting (such as the length of the signaling S3), the data accuracy and size, the delay threshold of the reporting link, and the maximum uplink transmission budget available for the first perception task.

[0166] It can be understood that, by indicating the valid duration of the first perception task through the ttlMs field and indicating the termination condition of the first perception task through the terminationCond field, the cooperative perception terminal can automatically end the execution of the first perception task and release the resource used for executing the first perception task when the first perception task reaches the valid duration and meets the termination condition, so as to realize the cooperative perception with fast decision, fast start and fast exit.

[0167] S204: The N cooperative perception terminals send a second confirmation signaling to the network device, wherein the second confirmation signaling is used to indicate that the signaling S3 is successfully received.

[0168] It can be understood that the second confirmation signaling can be an RRCReconfigurationComplete signaling or can also be other types of signaling.

[0169] In some embodiments, after the N cooperative sensing terminals receive the signaling S3 sent by the network device, the N cooperative sensing terminals can send second confirmation signaling to the network device to inform the network device that the signaling S3 has been successfully received.

[0170] S205: The N cooperative sensing terminals perform the first sensing task.

[0171] In some embodiments, after the N cooperative sensing terminals receive the signaling S3 sent by the network device, the N cooperative sensing terminals perform the first sensing task on the second terminal device within the execution time window of the first sensing task in response to the signaling S3.

[0172] S206: The N cooperative sensing terminals send the execution result information of the first sensing task to the network device.

[0173] In some embodiments, after the N cooperative sensing terminals perform the first sensing task, or after the first sensing task meets the aforementioned termination condition, the N cooperative sensing terminals can send the execution result information of the respective first sensing task to the network device.

[0174] In some embodiments, the execution result information of the first sensing task includes the information of the moving speed, moving direction, acceleration and position of the second terminal device.

[0175] For example, as shown in FIG. 6, the vehicle-mounted terminal of the first vehicle 02 and the vehicle-mounted terminal of the third vehicle 05 send the execution result information of the first sensing task on the vehicle-mounted terminal of the fourth vehicle 06 to the base station 01 after performing the first sensing task. Figure 3

[0176] S207: The network device sends the first execution result of the first sensing task to the first terminal device according to the received execution result information.

[0177] After the network device receives the execution result information of the first sensing task sent by at least one cooperative sensing terminal, the network device can send the first execution result of the first sensing task to the first terminal device according to the received execution result information of the first sensing task.

[0178] The first execution result includes but is not limited to the position, moving track, distance, moving direction, moving speed and / or acceleration of the second terminal device.

[0179] For example, as shown in FIG. 6, the network device sends the first execution result of the first sensing task to the first vehicle 02 according to the received execution result information of the first sensing task. Figure 3 ​As shown, after receiving the execution result information of the first sensing task sent by the vehicle terminal of the first vehicle 02 and / or the vehicle terminal of the third vehicle 05, the base station 01 can send the first execution result of the first sensing task to the vehicle terminal of the second vehicle 03 according to the received execution result information, such as the position, movement trajectory, distance, movement direction, movement speed and / or acceleration of the vehicle terminal of the fourth vehicle 06.

[0180] It is understood that S204 is an optional step, and in some other embodiments, S204 may not be performed.

[0181] In this embodiment, the network device calls upon N collaborative sensing terminals to assist the first terminal device in sensing the second terminal device, which can improve the sensing accuracy of the second terminal device.

[0182] Figure 5 According to some embodiments of this application, a flowchart of another collaborative sensing method is shown.

[0183] like Figure 5 As shown, the process includes: S301: The first terminal device sends a first request to the network device, wherein the first request is used to request the execution of a first sensing task for the second terminal device.

[0184] S302: In response to the first request, the network device selects N cooperative sensing terminals from the M candidate cooperative sensing terminals in the cooperative sensing candidate pool, where N is a positive integer and N is less than or equal to M.

[0185] S303: The network device sends signaling S3 to N cooperative sensing terminals, where signaling S3 is used to instruct the execution of the first sensing task.

[0186] S304: N cooperative sensing terminals send a second confirmation signaling to the network device, wherein the second confirmation signaling is used to indicate that the signaling S3 has been successfully received.

[0187] S305: N collaborative sensing terminals perform the first sensing task.

[0188] S306: N collaborative sensing terminals send the execution result information of the first sensing task to the network device.

[0189] S301~S306 are essentially the same as S201~S206, and will not be elaborated further here.

[0190] S307: During the movement of the second terminal device, the network device sends signaling S4 to the third terminal device at the first moment. Signaling S4 is used to activate the third terminal device and instruct the third terminal device to maintain a low power consumption state.

[0191] In some embodiments, the third terminal device is in the first area, which is a predicted arrival area of the second terminal device after the first time length. The third terminal device is a candidate cooperative sensing terminal outside the N cooperative sensing terminals in the cooperative sensing candidate pool.

[0192] In some embodiments, the first area is determined based on a predicted moving trajectory of the second terminal device and / or received execution result information from at least one cooperative sensing terminal performing the first sensing task, the execution result information including a moving speed, a moving direction, an acceleration and a position of the second terminal device. The predicted moving trajectory can be determined based on a historical moving trajectory of the second terminal device. The historical moving trajectory of the second terminal device can be determined based on historical trajectory information from the second terminal device.

[0193] Specifically, in the process of moving of the second device, the network device can obtain the historical trajectory information uploaded by the second terminal device from a traffic platform, a multi access edge computing (MEC) service platform or other platforms, or can also directly receive the historical trajectory information returned by the second terminal device, and then determine the historical trajectory of the second terminal device based on the historical trajectory information of the second terminal device. Then, the network device predicts the first area that the second terminal device can arrive at after the first time length according to the historical moving trajectory of the second terminal device and / or the current moving speed, moving direction, acceleration and position of the second terminal device, and sends signaling S4 (as the fourth signaling) to the third terminal device in the first area to activate the third terminal and instruct the third terminal device to keep a low-power consumption state.

[0194] It can be understood that the signaling S4 can be an RRCReconfiguration signaling or can also be other types of signaling.

[0195] In some embodiments, the signaling S4 includes a preConfigurationFlag field (as the eighteenth field). In other embodiments, the signaling S4 further includes an activationPagingIndication field (as the nineteenth field), a lightListenHint field (as the twentieth field), a preConfiguredTaskContent field (as the twenty-first field) and / or a preConfigurationID field (as the twenty-second field).

[0196] For example, as shown in Table 4 below, the signaling S4 includes a preConfigurationFlag field, an activationPagingIndication field, a lightListenHint field, a preConfiguredTaskContent field, and a preConfigurationID field.

[0197] The preConfigurationFlag field is used to indicate entering a low-power state. Also, the signaling is identified as pre-configuration signaling, indicating that the terminal device only receives and does not immediately perform a sensing task.

[0198] The activationPagingIndication field is used to indicate listening to the signaling S5 (as the fifth signaling).

[0199] The lightListenHint field is used to indicate a listening intensity and a listening period.

[0200] The preConfiguredTaskContent field is used to indicate task configuration information of the first sensing task. In some embodiments, the preConfiguredTaskContent field can contain an encapsulation field of the task configuration information of the first sensing task, which is only unpacked and applied when the terminal device receives the signaling S5.

[0201] The preConfigurationID field is used to indicate a second identification of the signaling S4.

[0202] Table 4

[0203] S308: The third terminal device enters a low-power state in response to the signaling S4.

[0204] After the third terminal device receives the signaling S4, the third terminal device enters a low-power state in response to the signaling S4.

[0205] In some embodiments, the third terminal device can configure resources for performing the first sensing task according to the task configuration information of the first sensing task indicated by the preConfiguredTaskContent field of the signaling S4. By pre-configuring the resources of the first sensing task, the response speed of the third terminal device can be improved.

[0206] S309: The network device sends the signaling S5 to the third terminal device at a second time, and the signaling S5 is used to instruct the third terminal device to perform the first sensing task.

[0207] After the network device transmits the signaling S4 to the third terminal device at the first time, the network device transmits the signaling S5 to the third terminal device at a second time, with a first time length interval.

[0208] It can be understood that the signaling S5 (as the fifth signaling) can be an RRCReconfiguration signaling or can also be other types of signaling.

[0209] In some embodiments, the signaling S5 includes an activationFlag field (as the twenty-third field). In other embodiments, the signaling S5 further includes a taskActivationID field (as the twenty-fourth field) and / or an activationTimingHint field (as the twenty-fifth field).

[0210] For example, as shown in Table 5 below, the signaling S5 includes the activationFlag field, the taskActivationID field and the activationTimingHint field.

[0211] The activationFlag field is used to indicate execution of the first perception task. In this embodiment, the activationFlag field is a first value, such as a logical value true or a numerical value 1, indicating execution of the first perception task. In other embodiments, the activationFlag field is a second value, such as a logical value false or a numerical value 0, indicating non-execution of the first perception task.

[0212] The taskActivationID field is used to indicate the second identification of the signaling S4.

[0213] The activationTimingHint field is used to indicate an execution time window of the first perception task.

[0214] Table 5

[0215] S310: The third terminal device executes the first perception task in response to the signaling S5.

[0216] After the third terminal device receives the signaling S5, the third terminal device parses the signaling S5 to determine the second identifier of the signaling S4 and the execution time window of the first sensing task. Then, the third terminal device queries the previously received signaling S4 based on the second identifier, and parses the encapsulated field contained in the preConfiguredTaskContent field of the signaling S4 to obtain the task configuration information of the first sensing task. Then, the third terminal device configures corresponding resources according to the task configuration information of the first sensing task, and executes the first sensing task in the execution time window of the first sensing task.

[0217] S311: The third terminal device sends the execution result information of the executed first sensing task to the network device.

[0218] After the third terminal device executes the first sensing task, the third terminal device can send the execution result information of the first sensing task to the network device.

[0219] S312: The network device sends the first execution result of the first sensing task to the first terminal device according to the received execution result information.

[0220] S312 is essentially the same as S207, and will not be described here.

[0221] In the embodiments of the present application, in the scenario that the second terminal device is in a mobile state, the network device predicts the first area that the second terminal device will soon arrive at, and activates the third terminal device in the first area in advance, instructing the third terminal device to be in a low-power consumption state. In this way, when the second terminal device arrives at the first area, the network device can directly instruct the third terminal device to exit the low-power consumption state and take over the first sensing task from the cooperative sensing terminal that loses the sensing ability for the second terminal device.

[0222] According to the above manner, the network device can activate multiple terminal devices in the first area in advance, and instruct the multiple terminal devices to be in a low-power consumption state to form an interruption risk buffer pool. In this way, when the second terminal device arrives at the first area, the network device can immediately switch the cooperative sensing terminal that executes the first sensing task to the terminal device in the interruption risk buffer pool. In this way, the switching speed of the cooperative sensing terminal can be improved, the switching delay can be reduced, and the interruption of the cooperative sensing link can be avoided, that is, the interruption of the first sensing task can be avoided.

[0223] Figure 6 According to some embodiments of the present application, a flowchart of another cooperative sensing method is shown.

[0224] As shown in the flowchart, the flowchart includes: Figure 6 S201: A network device sends a first signaling to a first terminal device, the first signaling including a first identifier of the first signaling and a first execution time window of a first sensing task. S401: The first terminal device sends a first request to the network device, where the first request is used to request to perform a first sensing task on the second terminal device.

[0225] S402: The network device selects N cooperative sensing terminal devices from M candidate cooperative sensing terminal devices in a cooperative sensing candidate pool in response to the first request.

[0226] S403: The network device sends signaling S3 to the N cooperative sensing terminal devices, where the signaling S3 is used to instruct to perform the first sensing task.

[0227] S404: The N cooperative sensing terminal devices send second confirmation signaling to the network device, where the second confirmation signaling is used to indicate that the signaling S3 is successfully received.

[0228] S405: The N cooperative sensing terminal devices perform the first sensing task.

[0229] S406: The N cooperative sensing terminal devices send execution result information of the performed first sensing task to the network device.

[0230] S401-S406 are substantially the same as S201-S206, and will not be described here.

[0231] S407: The network device determines a predicted moving trajectory of the second terminal device.

[0232] After the network device receives the execution result information of the first sensing task sent by at least one of the N cooperative sensing terminal devices, the network device can obtain historical trajectory information of the second terminal device, and then predict the moving trajectory of the second terminal device according to the historical trajectory information of the second terminal device and / or the execution result information of the first sensing task (such as the moving direction, moving speed, acceleration and position of the second terminal device), to obtain the predicted moving trajectory of the second terminal device.

[0233] For example, as shown in Figure 7 , the base station 01 determines the predicted moving trajectory L1 of the terminal device of the fourth vehicle 06 according to the historical moving trajectory information of the terminal device of the fourth vehicle 06 and / or the execution result information of the first sensing task (such as the moving direction, moving speed, acceleration and position of the terminal device of the fourth vehicle 06).

[0234] S408: The network device sends signaling S4 to the third terminal device on the predicted moving trajectory, where the signaling S4 is used to activate the third terminal device and instruct the third terminal device to keep a low-power consumption state.

[0235] After the network device determines the predicted moving track of the second terminal device, the network device can send signaling S4 to the third terminal device on the predicted moving track, to activate the third terminal device and instruct the third terminal device to keep a low-power consumption state.

[0236] Exemplarily, as shown in FIG. 1, the base station 01 can send signaling S4 to the vehicle-mounted terminal of the fifth vehicle 07 (as an example of the third terminal device) on the predicted moving track L1 of the vehicle-mounted terminal of the fourth vehicle 06, to activate the vehicle-mounted terminal of the fifth vehicle 07 and instruct the vehicle-mounted terminal of the fifth vehicle 07 to keep a low-power consumption state. Figure 7

[0237] S409: The third terminal device enters a low-power consumption state in response to the signaling S4.

[0238] S410: The third terminal device sends third confirmation signaling to the network device, where the third confirmation signaling is used to indicate that the signaling S4 is successfully received.

[0239] It can be understood that the third confirmation signaling can be RRCReconfigurationComplete signaling or can also be other types of signaling.

[0240] After the third terminal device successfully receives the signaling S4 sent by the network device, the third terminal device can send third confirmation signaling to the network device, to inform the network device that the signaling S4 is successfully received.

[0241] S411: The network device detects whether the third terminal device meets the execution condition of the first perception task.

[0242] If yes, S412 is executed. If no, the execution continues with S411.

[0243] In some embodiments, the execution condition of the first perception task can include that the second terminal device moves into the perception range of the third terminal device.

[0244] Specifically, the network device can detect whether the second terminal device moves into the perception range of the third terminal device. If the second terminal device moves into the perception range of the third terminal device, the network device executes the following S412. If the second terminal device does not move into the perception range of the third terminal device, the network device continues to detect whether the second terminal device moves into the perception range of the third terminal device.

[0245] S412: The network device sends signaling S5 to the third terminal device, where the signaling S5 is used to instruct to execute the first perception task.

[0246] ​After the network device detects that the second terminal device moves into the sensing range of the third terminal device, the network device can send signaling S5 to the third terminal device to instruct the third terminal device to perform the first sensing task.

[0247] As shown in the figure, Figure 8 When the on-board terminal of the fourth vehicle 06 moves into the sensing range of the on-board terminal of the fifth vehicle 07, the base station 01 can send signaling S5 to the on-board terminal of the fifth vehicle 07 to instruct the on-board terminal of the fifth vehicle 07 to perform the first sensing task.

[0248] S413: The third terminal device sends fourth confirmation signaling to the network device, where the fourth confirmation signaling is used to indicate that the signaling S5 is successfully received.

[0249] It can be understood that the fourth confirmation signaling can be RRCReconfigurationComplete signaling or other types of signaling.

[0250] After the third terminal device successfully receives the signaling S5, the third terminal device can send fourth confirmation signaling to the network device to inform the network device that the signaling S5 has been successfully received.

[0251] S414: The third terminal device parses the signaling S4 to obtain the task configuration information of the first sensing task.

[0252] After the third terminal device receives the signaling S5, the third terminal device can parse the previously received signaling S4 to obtain the configuration information of the first task carried in the preConfiguredTaskContent field of the signaling S4.

[0253] S415: The third terminal device performs the first sensing task based on the task configuration information of the first sensing task.

[0254] After the third terminal device obtains the task configuration information of the first sensing task, the third terminal device can configure corresponding resources to perform the first sensing task according to the task configuration information.

[0255] As shown in the figure, Figure 8 Since the on-board terminal of the fourth vehicle 06 moves out of the sensing range of the on-board terminal of the first vehicle 02, the on-board terminal of the fifth vehicle 07 takes over the on-board terminal of the first vehicle 02 as a cooperative sensing terminal and performs the first sensing task on the on-board terminal of the fourth vehicle 06.

[0256] S416: The third terminal device sends execution result information of the first sensing task to the network device.

[0257] As shown in the figure, Figure 8As shown, the on-board terminal of the fifth vehicle 07 executes the first perception task, and sends the execution result information of the first perception task to the base station 01.

[0258] S417: The network device sends the first execution result of the first perception task to the first terminal device according to the received execution result information.

[0259] S417 is substantially the same as S312, and will not be described here.

[0260] It can be understood that S404, S410 and S413 are optional steps, that is, in other embodiments, S404, S410 and S413 can also not be executed.

[0261] In the embodiments of the present application, the network device activates the third terminal device on the predicted moving track of the second terminal device in advance, and instructs the third terminal device to be in a low-power state, so that the third device is in a ready state at any time as a cooperative perception terminal. In this way, when the second terminal device moves into the sensing range of the third terminal device, the network device can quickly instruct the third terminal device to execute the first perception task as a cooperative perception terminal, so that the abnormal phenomenon of interruption or high delay of the execution of the first perception task in the moving process of the first terminal device can be avoided.

[0262] Figure 9 According to some embodiments of the present application, another cooperative perception method flowchart is shown.

[0263] As shown, the flowchart includes: Figure 9 S501: The first terminal device sends a first request to the network device, wherein the first request is used to request to execute a first perception task on a second terminal device.

[0264] S502: The network device selects N cooperative perception terminals from M candidate cooperative perception terminals in a cooperative perception candidate pool in response to the first request.

[0265] S503: The network device sends signaling S3 to the N cooperative perception terminals, wherein the signaling S3 is used to instruct to execute the first perception task.

[0266] S504: The N cooperative perception terminals send second confirmation signaling to the network device, wherein the second confirmation signaling is used to indicate that the signaling S3 is successfully received.

[0267] S505: The N cooperative perception terminals execute the first perception task.

[0268] S506: The N cooperative perception terminals send execution result information of the executed first perception task to the network device.

[0269] ​S507: Network devices determine the predicted movement trajectory of the second terminal device.

[0270] S501~S507 are essentially the same as S401~S407, and will not be elaborated further here.

[0271] S508: The network device detected that the second terminal device deviated from the predicted movement trajectory.

[0272] After the network device determines the predicted movement trajectory of the second terminal device, the network device determines the deviation of the second terminal device from the predicted movement trajectory based on the information such as the movement speed, movement direction, acceleration and position returned by the second terminal device. For example, the angle of deviation of the second terminal device from the predicted movement trajectory is greater than the deviation angle threshold, and / or the distance of deviation of the second terminal device from the predicted movement trajectory is greater than the deviation distance threshold.

[0273] For example, such as Figure 10 As shown, base station 01 detected that the vehicle terminal of the fourth vehicle 06 was moving along the movement trajectory L2, deviating from the predicted movement trajectory L1.

[0274] S509: The network device sends signaling S4 to a third terminal device in the predicted arrival area of ​​the second terminal device, wherein signaling S4 is used to activate the third terminal device and instruct the third terminal device to maintain a low power state.

[0275] After the network device detects that the second terminal device deviates from the predicted movement trajectory, the network device can determine the predicted arrival area of ​​the second terminal device after a first time period, i.e. the aforementioned first area, based on the current movement speed, movement direction, acceleration and position of the second terminal device. Then, the network device sends signaling S4 to the third terminal device in the area to activate the third terminal device and instruct the third terminal device to maintain a low power consumption state.

[0276] For example, such as Figure 10 As shown, base station 01 determines that the vehicle-mounted terminal of the fourth vehicle 06 will arrive at area R1 (as an example of the first area) after a first time period based on the current moving speed, moving direction, acceleration and position of the vehicle-mounted terminal of the fourth vehicle 06. Then, it sends signaling S4 to the vehicle-mounted terminal of the sixth vehicle 08 (as an example of the third terminal device) in area R1 to activate the vehicle-mounted terminal of the sixth vehicle 08 and instruct the vehicle-mounted terminal of the sixth vehicle 08 to maintain the power consumption state.

[0277] S510: The third terminal device responds to signaling S4 and enters a low-power state.

[0278] For example, such as Figure 10 As shown, the on-board terminal signaling S4 of the sixth vehicle 08 enters a low-power state.

[0279] S511: The third terminal device sends third confirmation signaling to the network device, where the third confirmation signaling is used to indicate that the signaling S4 is successfully received.

[0280] S512: The network device detects whether the third terminal device meets the execution condition of the first perception task.

[0281] If yes, S513 is executed. If no, S512 is continuously executed.

[0282] S513: The network device sends signaling S5 to the third terminal device, where the signaling S5 is used to instruct the third terminal device to execute the first perception task.

[0283] Exemplarily, as shown in FIG. 6, when the on-board terminal of the fourth vehicle 06 moves along the moving track L2 to the perception range of the on-board terminal of the sixth vehicle 08, the base station 01 can send the signaling S5 to the on-board terminal of the sixth vehicle 08 to instruct the on-board terminal of the sixth vehicle 08 to execute the first perception task. Figure 11

[0284] S514: The third terminal device sends fourth confirmation signaling to the network device, where the fourth confirmation signaling is used to indicate that the signaling S5 is successfully received.

[0285] S515: The third terminal device parses the signaling S4 to obtain the task configuration information of the first perception task.

[0286] S516: The third terminal device executes the first perception task based on the task configuration information of the first perception task.

[0287] Exemplarily, as shown in FIG. 6, the on-board terminal of the sixth vehicle 08 executes the first perception task on the on-board terminal of the fourth vehicle 06 in response to the signaling S5. Figure 11

[0288] S517: The third terminal device sends the execution result information of the first perception task to the network device.

[0289] Exemplarily, as shown in FIG. 6, the on-board terminal of the sixth vehicle 08 sends the execution result information of the first perception task to the base station 01 after executing the first perception task. Figure 11

[0290] S518: The network device sends the first execution result of the first perception task to the first terminal device according to the received execution result information.

[0291] S518 is substantially the same as S417, and will not be described here.

[0292] ​​​In the embodiments of the present application, when the second terminal device deviates from the predicted moving track, the network device can predict the area that the second terminal device is likely to reach, and then activate the terminal devices in the area in advance and instruct the terminal devices in the area to be in a low-power consumption state. In this way, when the second terminal device reaches the area, the network device can directly instruct the terminal devices in the area to exit the low-power consumption state and perform the first sensing task on the second terminal device as the cooperative sensing terminal. In this way, the switching speed of the cooperative sensing terminal can be improved, so as to avoid abnormal phenomena such as interruption or high delay of the first sensing task.

[0293] It can be understood that, in the flowcharts shown in Figure 6 and Figure 9 , after the third terminal device receives the signaling S4 sent by the network device, the third terminal device can also directly analyze the signaling S4 to obtain the configuration information of the first task carried in the preConfiguredTaskContent field of the signaling S4, and then configure resources (hereinafter referred to as “pre-configuration mechanism”) for performing the first sensing task based on the configuration information. In this way, when the third terminal device receives the signaling S5 sent by the network device, the third terminal device can directly perform the first sensing task in response to the signaling S5, without performing the processes of analyzing the signaling S4 and resource configuration again. In this way, the response speed of the third terminal device can be improved, so as to improve the switching speed of the cooperative sensing terminal, reduce the switching delay of the cooperative sensing terminal, and thus avoid interruption or high delay of the first sensing task.

[0294] Compared with the traditional one-time configuration mode, the pre-configuration mechanism avoids the signaling overhead caused by repeated link establishment and full-amount configuration, which is beneficial to improve the efficiency of switching the cooperative sensing terminal and ensure the continuity of the sensing task in a dynamic environment.

[0295] Figure 12 According to some embodiments of the present application, a structural schematic diagram of an electronic device is shown.

[0296] As shown in Figure 12 , the electronic device 100 includes a processor 110, a mobile communication module 120, a wireless communication module 130, a power supply module 140, an audio module 150, an interface module 160, a camera 170, a memory 180, and a sensor module 190, etc.

[0297] The mobile communication module 120 and the wireless communication module 130 are used for communication with the aforementioned network device.

[0298] The electronic device 100 can be the aforementioned network device, or the aforementioned cooperative sensing terminal.

[0299] In the case that the electronic device 100 is the aforementioned network device, the electronic device 100 can pre-establish the aforementioned collaborative perception candidate pool and store the collaborative perception candidate pool in the memory 180.

[0300] In the case that the electronic device 100 is the aforementioned collaborative perception terminal, the electronic device 100 can perform the aforementioned first perception task on the second terminal device through the audio module 150, the camera 170 and the sensor module 190.

[0301] In some embodiments, the audio module 150 is configured to emit ultrasonic waves to collect the perception information of the second terminal device, such as distance, by using the ultrasonic waves.

[0302] In some embodiments, the sensor module 190 includes a millimeter wave radar, an infrared sensor, and / or an active radar sensor. The electronic device 100 can invoke the millimeter wave radar, the infrared sensor, and / or the active radar of the sensor module 190 to collect the perception information of the second terminal device, such as distance.

[0303] In some embodiments, the electronic device 100 can invoke the camera 170 to take multiple images of the second terminal device, and then determine the state of the second terminal device, such as the moving state, the moving direction, the moving speed, the acceleration, the position, and the like, based on the multiple images.

[0304] It can be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 can include more or fewer components than illustrated, or combine certain components, or split certain components, or different component arrangements. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0305] The processor 110 can include one or more processing units, for example, can include a processing module or processing circuit of a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a micro-programmed control unit (MCU), an artificial intelligence (AI) processor, or a field programmable gate array (FPGA), etc. Different processing units can be independent devices or integrated in one or more processors. The processor 110 can be provided with a storage unit for storing instructions and data.

[0306] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the aforementioned actions. Figure 2 , Figure 4 to Figure 6 as well as Figure 9 The method provided in the embodiments.

[0307] This application also provides a computer program product, including computer program code, which, when run on a computer, causes the computer to perform the aforementioned... Figure 2 , Figure 4 to Figure 6 as well as Figure 9 The method provided in the embodiments.

[0308] This application also provides a wireless communication system, including a network device and a cooperative sensing terminal, wherein the network device is used to perform... Figure 2 , Figure 4 to Figure 6 as well as Figure 9 The method is executed by network devices. The cooperative sensing terminal is used to execute... Figure 2 , Figure 4 to Figure 6 as well as Figure 9 The method is executed by the collaborative sensing terminal.

[0309] This application provides a chip, including a processor, which is used to read and execute a computer program stored in a memory to perform the aforementioned... Figure 2 , Figure 4 to Figure 6 as well as Figure 9 The method provided in the embodiments.

[0310] Figure 13 According to some embodiments of this application, a schematic diagram of the structure of a first cooperative sensing device is shown. The first cooperative sensing device stores a cooperative sensing candidate pool, which includes M candidate cooperative sensing terminals, where M is a positive integer.

[0311] like Figure 13 As shown, the first cooperative sensing device 200 includes: The first receiving module 210 is configured to receive a first request from the first terminal device, wherein the first request is used to request the execution of a sensing task for the second terminal device.

[0312] Selection module 220 is used to select N collaborative sensing terminals from M candidate collaborative sensing terminals in response to a first request, where M and N are both positive integers, and N is less than or equal to M.

[0313] The first sending module 230 is used to send a first signaling to N collaborative sensing terminals, wherein the first signaling is used to instruct the execution of a sensing task.

[0314] The second receiving module 240 is used to receive execution result information from at least one of the N collaborative sensing terminals after completing the sensing task.

[0315] The second sending module 250 is used to send the first perception result of the second terminal device to the first terminal device based on the received execution result information.

[0316] Figure 14 According to some embodiments of this application, a schematic diagram of the structure of a second cooperative sensing device is shown.

[0317] like Figure 14 As shown, the second cooperative sensing device 300 includes: The third receiving module 310 is used to receive a first signaling from the network device. The network device stores a cooperative sensing candidate pool, which includes M candidate cooperative sensing terminals, where M is a positive integer. The first signaling is sent by the network device after receiving a first request from the first terminal device and selecting a cooperative sensing terminal from the M candidate cooperative sensing terminals. The first request is used to request the execution of a first sensing task for the second terminal device.

[0318] The execution module 320 is used to execute the first sensing task in response to the first signaling.

[0319] The third sending module 330 is used to send the execution result information of the first sensing task to the network device.

[0320] The embodiments disclosed in this application can be implemented in hardware, software, firmware, or a combination of these implementation methods. Embodiments of this application can be implemented as computer programs or program code executable on a programmable system, the programmable system including at least one processor, a storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device.

[0321] Program code can be applied to input instructions to execute the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor, a microcontroller, an application-specific integrated circuit, or a microprocessor.

[0322] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this application are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0323] In some cases, the disclosed embodiments can be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments can also be implemented as instructions carried by or stored on a transitory or non-transitory machine-readable (e.g., computer-readable) medium, which can be read and executed by one or more processors. For example, the instructions can be distributed over the network or by other computer readable media. Thus, a machine-readable medium can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), including without limitation floppy disks, optical disks, optical disks, read-only memory, magnetic cassettes or tapes, read-only memory, random access memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, magnetic or optical cards, flash memory, or tangible, machine-readable storage used in the transmission of information over the Internet or other networks. Accordingly, the machine-readable medium includes any type of medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

[0324] In the drawings, some of the structural or methodological features can be shown in particular arrangements and / or orders. However, it should be understood that such a specific arrangement and / or order can not be required. Instead, in some embodiments, the features can be arranged in a different manner and / or order than shown in the illustrative drawings. Additionally, inclusion of a structural or methodological feature in a particular figure is not meant to imply that such feature is required in all embodiments, and in some embodiments, the feature can not be included or can be combined with other features.

[0325] It should be noted that each unit / module mentioned in the device embodiments of the present application is a logical unit / module, in physical, one logical unit / module can be one physical unit / module, also can be a part of one physical unit / module, also can be realized in combination of multiple physical unit / modules, the physical realization of these logical units / modules is not the most important, the combination of the functions realized by these logical units / modules is the key to solve the technical problems proposed in the present application. In addition, in order to highlight the innovative part of the present application, the above-mentioned device embodiments of the present application do not introduce the units / modules which are not closely related to solving the technical problems proposed in the present application, which does not mean that the above-mentioned device embodiments do not have other units / modules.

[0326] It is to be understood that the phrases such as "first" and "second", and the like, used herein do not denote any order, quantity, or importance, but rather are used to identify one element from another, and the "and / or" language includes a variety of configurations of both the unaided use of each item in the list, and the aided use of each item in the list with others of the items in the list. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. The use of the terms "including", "comprising", or "having" containing the term "one" or "at least one" is used herein to represent the inclusion of at least one of the specified components in the described implementations, but does not exclude the inclusion of other components. The use of the term "about" in conjunction with a numerical value refers to a value that is within 10% of the value, preferably within 5% of the value, and more preferably within 1% of the value.

[0327] While the application has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character, it being understood that only the preferred embodiments have been shown and described and that all changes and modifications that come within the spirit of the application are desired to be protected.

Claims

1. A method of cooperative perception, the method comprising: The method is applied to a network device, the network device stores a cooperative sensing candidate pool, and the cooperative sensing candidate pool includes M candidate cooperative sensing terminals, where M is a positive integer. The method includes the following steps: receiving a first request from a first terminal device, where the first request is used to request to perform a first sensing task on a second terminal device; in response to the first request, selecting N cooperative sensing terminals from the M candidate cooperative sensing terminals, where N is a positive integer and N is less than or equal to M; sending first signaling to the N cooperative sensing terminals, where the first signaling is used to instruct to perform the first sensing task; receiving execution result information of the first sensing task performed by at least one of the N cooperative sensing terminals; sending a first sensing result of the second terminal device to the first terminal device according to the received execution result information.

2. The method according to claim 1, wherein, The M candidate cooperative sensing terminals are determined from K terminal devices based on device information reported by the K terminal devices, and the device information is reported by the K terminal devices after receiving second signaling from the network device, where K is a positive integer and K is greater than or equal to M.

3. The method of claim 2, wherein, The second signaling includes: a first field used to indicate a first cooperative sensing condition required by the network device.

4. The method of claim 3, wherein, The second signaling further includes a second field, a third field and / or a fourth field, where the second field is used to indicate that the device information is reported at a time when the second signaling is received, or the device information is reported according to a first period, or the device information is reported in response to a trigger event; the third field is used to indicate an event type of the trigger event, and the event type is a mobile state change event, a power change event or a signal strength change event; the fourth field is used to indicate a valid time length of this time of reporting the device information.

5. The method of claim 4, wherein, The device information is reported through third signaling, where the third signaling includes: a fifth field used to indicate whether the first cooperative sensing condition required by the network device is met.

6. The method of claim 5, wherein, The third signaling further includes a sixth field, a seventh field, an eighth field, a ninth field, a tenth field and / or an eleventh field, where the sixth field is used to indicate a time interval in which a sensing task can be performed; the seventh field is used to indicate a mobile state; the eighth field is used to indicate a moving direction; the ninth field is used to indicate a moving speed; the tenth field is used to indicate an idle resource amount; the eleventh field is used to indicate whether the terminal device is configured to allow to perform a sensing task.

7. The method of claim 5, wherein, The M candidate cooperative sensing terminals meet the first cooperative sensing condition required by the network device.

8. The method according to any one of claims 3 to 7, characterized in that, The first cooperative sensing condition includes: a sensing accuracy satisfying a sensing accuracy condition; and / or a sensing range being greater than or equal to a sensing range threshold; and / or a sensing delay being less than or equal to a sensing delay threshold.

9. The method according to any one of claims 1 to 7, characterized in that, The N cooperative sensing terminals meet a second cooperative sensing condition, and the second cooperative sensing condition includes: an idle resource amount being greater than or equal to a resource amount required by the first sensing task, and being configured to allow to perform a sensing task.

10. The method according to any one of claims 1 to 7, characterized in that, The first signaling includes: A twelfth field is configured to indicate a task type of the first perception task.

11. The method of claim 10, wherein, The first signaling further comprises a thirteenth field, a fourteenth field, a fifteenth field, a sixteenth field, and / or a seventeenth field, wherein The thirteenth field is configured to indicate a first identifier of the first perception task. The fourteenth field is configured to indicate a valid time length of the first perception task. The fifteenth field is configured to indicate a termination condition of the first perception task. The sixteenth field is configured to indicate an execution time window of the first perception task. The seventeenth field is configured to indicate a device type, a location, and / or a direction of the second terminal device relative to the network device.

12. The method of claim 10, wherein, The task type comprises a location perception task, a moving trajectory perception task, a distance perception task, a moving direction perception task, a moving speed perception task, or an acceleration perception task.

13. The method of claim 11, wherein, The termination condition comprises that a perception accuracy does not satisfy a perception accuracy condition and / or the first perception task is executed completely.

14. The method of claim 8, wherein, The perception accuracy condition comprises: a distance perception error is less than a distance perception error threshold; and / or, a speed perception error is less than a speed perception error threshold; and / or, an azimuth angle perception error is less than an azimuth angle perception error threshold; and / or, a pitch angle perception error is less than a pitch angle perception error threshold; and / or, an acceleration perception error is less than an acceleration perception error threshold; and / or, a moving direction perception deviation angle is less than a moving direction perception deviation angle threshold.

15. The method according to any one of claims 1 to 7, characterized in that, Before the sending, according to the received execution result information, of the first perception result of the second terminal device to the first terminal device, the method comprises: sending, at a first time during a movement of the second terminal device, fourth signaling to a third terminal device in a first area, wherein the first area is a predicted arrival area of the second terminal device after a first time length, the third terminal device is a candidate cooperative perception terminal outside the N cooperative perception terminals in the cooperative perception candidate pool, and the fourth signaling is used to activate the third terminal device and instruct the third terminal device to remain in a low-power consumption state; sending, at a second time, fifth signaling to the third terminal device, the fifth signaling being used to instruct the third terminal device to execute the first perception task, and the second time is separated from the first time by the first time length; receiving execution result information from the third terminal device after the third terminal device executes the first perception task.

16. The method of claim 15, wherein, The first area is determined based on a predicted moving trajectory of the second terminal device and / or execution result information of the first perception task, and the execution result information comprises a moving speed, a moving direction, an acceleration, and a location of the second terminal device.

17. The method of claim 16, wherein, The predicted moving trajectory is determined based on a historical moving trajectory of the second terminal device, and the historical moving trajectory is determined based on historical moving trajectory information from the second terminal device.

18. The method of claim 15, wherein, The fourth signaling comprises: an eighteenth field configured to indicate entering a low-power consumption state.

19. The method of claim 18, wherein, The fourth signaling further comprises a nineteenth field, a twentieth field, a twenty-first field, and / or a twenty-second field, wherein The nineteenth field is configured to indicate that the fifth signaling is listened to. The twentieth field is configured to indicate a listening intensity and a listening period. The twenty-first field is configured to indicate task configuration information of the first sensing task. The twenty-second field is configured to indicate a second identifier of the fourth signaling.

20. The method of claim 15, wherein, The fifth signaling includes: The twenty-third field is configured to indicate that the first sensing task is performed.

21. The method of claim 20, wherein, The fifth signaling further includes a twenty-fourth field and / or a twenty-fifth field, wherein The twenty-fourth field is configured to indicate the second identifier of the fourth signaling. The twenty-fifth field is configured to indicate an execution time window of the first sensing task.

22. The method of claim 1, wherein, The first sensing result includes a position, a moving track, a distance, a moving direction, a moving speed and / or an acceleration of the second terminal device.

23. A method of cooperative sensing, the method comprising: The method applied to a cooperative sensing terminal includes: receiving a first signaling from a network device, the first signaling being configured to indicate that a first sensing task for a second terminal device is performed, wherein the network device stores a cooperative sensing candidate pool, the cooperative sensing candidate pool including M candidate cooperative sensing terminals, M being a positive integer, and the first signaling is sent by the network device after selecting the cooperative sensing terminal from the M candidate cooperative sensing terminals in response to a first request from a first terminal device; performing the first sensing task in response to the first signaling; sending execution result information of the first sensing task to the network device.

24. The method of claim 23, wherein, Before the receiving the first signaling from the network device, the method includes: receiving a second signaling from the network device; sending device information of the cooperative sensing terminal device to the network device, the device information being configured to indicate that the network device establishes a cooperative sensing candidate pool.

25. The cooperative sensing method of claim 24, wherein The second signaling includes: a first field configured to indicate a first cooperative sensing condition required by the network device; The device information is reported through a third signaling, wherein the third signaling includes: a fifth field configured to indicate whether the cooperative sensing terminal satisfies the first cooperative sensing condition; The first cooperative sensing condition includes: a sensing accuracy satisfying a sensing accuracy condition; and / or a sensing range being greater than or equal to a sensing range threshold; and / or a sensing delay being less than or equal to a sensing delay threshold.

26. The method of claim 25, wherein, The third signaling further includes a sixth field, a seventh field, an eighth field, a ninth field, a tenth field and / or an eleventh field, wherein The sixth field is configured to indicate a time interval in which a sensing task can be performed. The seventh field is configured to indicate a moving state. The eighth field is configured to indicate a moving direction. The ninth field is configured to indicate a moving speed. The tenth field is configured to indicate an amount of idle resources. The eleventh field is configured to indicate whether the cooperative sensing terminal is configured to be allowed to perform a sensing task.

27. An electronic device, comprising: includes: a memory configured to store instructions; a processor configured to cause the electronic device to perform the cooperative sensing method of any one of claims 1 to 22 or claims 23 to 26 when the processor executes the instructions in the memory.

28. A computer-readable storage medium, characterized in that, The computer readable storage medium stores instructions which, when executed on a computer, cause the computer to perform the cooperative sensing method of any one of claims 1-22 or claims 23-26.

29. A computer program product, characterised in that, The computer readable storage medium stores instructions which, when executed on a computer, cause the computer to perform the cooperative sensing method of any one of claims 1-22 or claims 23-26.

30. A wireless communication system, characterized by The computer readable storage medium stores instructions which, when executed on a computer, cause the computer to perform the cooperative sensing method of any one of claims 1-22 or claims 23-26.

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