Sensing method and device

Abstract

The invention relates to the technical field of Internet of Things, and provides a sensing method and device. The method comprises the following steps: receiving a network session request message sent by a session node of a first network, and discovering at least one target terminal from a second network based on the network session request message; sending a sensing measurement request message to each target terminal, and allocating a transmission strategy and a unique callback pointer to each target terminal; receiving measurement result information sent by each target terminal, determining a sensing result based on each measurement result information, and sending the sensing result to the session node; wherein the measurement result is obtained by performing target sensing based on the sensing measurement request message; the transmission strategy is used for limiting a data transmission mode between each target terminal and the management node; the callback pointer is used for adjusting the transmission strategy. According to the method, the bottlenecks of the single node in the aspects of communication performance, computing resources, sensing precision and the like in a large-scale data processing scene in the prior art are solved, so that the sensing capability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of Internet of Things, and in particular to a sensing method and device. BACKGROUND

[0002] Sensing capability will be an important capability in addition to basic communication capability of mobile communication systems in the 6G era. Network-connected terminals need to evolve into intelligent devices that can sense the actions and states of people, objects and other terminals. For new Internet of Things applications, the network can have real-time measurement and sensing capability for monitoring objects in the coverage area through collaborative networking.

[0003] However, the current 5G-A network continuously superimposes industry capabilities on the ordinary large network service framework and functions centered on centralized control. However, facing various industry needs, the number of various non-cellular consumer terminals, industry intelligent terminals and wearable devices is continuously increasing. The centralized network building mode gradually exposes problems. A single site needs to carry a large number of access terminals. Once a fault occurs, a large number of terminal users are affected, causing great pressure on network reliability.

[0004] Therefore, how to fully exert the advantages of the network, break through the bottleneck of single-node communication performance, computing resources, sensing accuracy, etc., and realize the improvement of one network with multiple capabilities has become a key problem that must be solved for wireless network end-to-end to achieve high-precision sensing capability. SUMMARY

[0005] The present application provides a terminal communication reliability processing method to solve the bottleneck of communication performance, computing resources, sensing accuracy, etc. of a single node in a large-scale data processing scenario in the prior art, thereby improving sensing capability.

[0006] In a first aspect, the present application provides a sensing method applied to a management node of a second network, comprising: receiving a network session request message sent by a session node of a first network, discovering at least one target terminal from the second network based on the network session request message; sending a sensing measurement request message to each target terminal, and allocating a transmission strategy and a unique callback pointer to each target terminal; receiving measurement result information sent by each target terminal, determining a sensing result based on each measurement result information, and sending the sensing result to the session node; wherein the measurement result is obtained by target sensing based on the sensing measurement request message; the transmission strategy is used to limit the data transmission mode of each target terminal and the management node; the callback pointer is used to adjust the transmission strategy.

[0007] Optionally, according to the sensing method of the present application, the discovering at least one target terminal from the second network based on the network session request message comprises: determining the number of required terminals based on the session request message; discovering the target terminal in the second network by any of the following ways until the target terminal meets the number: receiving the device exposure information sent by the target terminal in the second network through broadcasting; broadcasting a set building invitation to the target terminal in the second network and receiving an invitation response message of the target terminal; wherein, the device exposure information is used to identify the target terminal; the invitation response message is generated based on the broadcast set building invitation, and the response message is used to identify the target terminal.

[0008] Optionally, according to the sensing method of the present application, the sensing measurement request message comprises sensing measurement parameters; the sensing measurement parameters comprise any of the following: channel, bandwidth configuration parameters; waveform parameters; measurement feedback parameters; measurement type information.

[0009] Optionally, according to the sensing method of the present application, further comprising: in the case that any of the measurement result information meets a preset condition, triggering the callback pointer to adjust the transmission strategy; the preset condition comprises at least one of the following: the reference signal receiving power (RSRP) in the measurement result information is less than or equal to the RSRP threshold value; the received signal strength indication (RSSI) in the measurement result information is less than or equal to the RSSI threshold value; the reference signal receiving quality (RSRQ) in the measurement result information is less than or equal to the RSRQ threshold value; the signal to interference and noise ratio (SINR) in the measurement result information is less than or equal to the SINR threshold value; the bit error rate in the measurement result information is greater than or equal to the bit error rate threshold value; the transceiving rate in the measurement result information is less than or equal to the transceiving rate threshold value; the angle of arrival (AoA) is greater than or equal to the AoA threshold value; the angle of departure (AoD) is greater than or equal to the AoD threshold value; the time of flight (ToF) is greater than or equal to the ToF threshold value.

[0010] Optionally, according to the sensing method of the present application, the adjusting the transmission strategy comprises at least one of the following: adjusting the retransmission number from the first preset number to a second preset number when the data packet loss rate is less than the loss rate threshold; adjusting the transmission parameter of the retransmission mechanism when the retransmission number reported by the management node or the target terminal reaches a maximum retransmission number within a predetermined time window; adopting selective retransmission or forward error correction when the data packet loss rate is greater than the loss rate threshold.

[0011] Optionally, according to the sensing method of the present application, after discovering at least one target terminal from the second network based on the network session request message, the method further comprises: sending a request response message to the session node; the network session request message comprises at least one of the following: operation code; second layer identifier L2ID of the opposite node; and the number of terminals; the request response message comprises at least one of the following: operation code; second layer identifier L2ID of the opposite node; number of target terminals; and ID of each target terminal.

[0012] Optionally, according to the sensing method of the present application, before sending the sensing measurement request message to each target terminal, the method further comprises: receiving a sensing measurement parameter configuration request message sent by the session node, and determining the sensing measurement parameter based on the sensing measurement parameter configuration request message.

[0013] In a second aspect, the present application provides a sensing method applied to a terminal of a second network, comprising: receiving a sensing measurement request message sent by a management node of the second network, and obtaining a transmission strategy and a unique callback pointer allocated by the management node; sending measurement result information to the management node; wherein the measurement result is obtained based on target sensing of a sensing measurement request message; the transmission strategy is used to limit the data transmission mode between the terminal and the management node; the callback pointer is used to adjust the transmission strategy.

[0014] Optionally, according to the sensing method of the present application, the method further comprises any one of the following: broadcasting device public information of the terminal to the management node; receiving a set formation invitation sent by the management node through broadcasting, and sending an invitation response message to the management node; wherein the device public information is used to identify the terminal. The invitation response message is generated based on the broadcast set group invitation, and the response message is used to identify the terminal.

[0015] Optionally, according to the perception method of the present application, the perception measurement request message comprises a perception measurement parameter; the perception measurement parameter comprises any one of the following: a channel, a bandwidth configuration parameter; a waveform parameter; a measurement feedback parameter; measurement type information.

[0016] Optionally, according to the perception method of the present application, in the case that the measurement result information meets a preset condition, the callback pointer adjusts the transmission strategy; The preset condition comprises at least one of the following: a reference signal received power (RSRP) in the measurement result information is less than or equal to an RSRP threshold value; a received signal strength indication (RSSI) in the measurement result information is less than or equal to an RSSI threshold value; a reference signal received quality (RSRQ) in the measurement result information is less than or equal to an RSRQ threshold value; a signal to interference and noise ratio (SINR) in the measurement result information is less than or equal to an SINR threshold value; an error code rate in the measurement result information is greater than or equal to an error code rate threshold value; a transceiving rate in the measurement result information is less than or equal to a transceiving rate threshold value; an angle of arrival (AoA) is greater than or equal to an AoA threshold value; an angle of departure (AoD) is greater than or equal to an AoD threshold value; a time of flight (ToF) is greater than or equal to a ToF threshold value.

[0017] Optionally, according to the perception method of the present application, the adjustment of the transmission strategy comprises at least one of the following: in the case that a data packet loss rate is less than a loss rate threshold value, adjusting a retransmission number from a first preset number to a second preset number; in a predetermined time window, when a retransmission number reported by the management node or the target terminal reaches a maximum retransmission number, adjusting a transmission parameter of a retransmission mechanism; in the case that a data packet loss rate is greater than a loss rate threshold value, using selective retransmission or forward error correction.

[0018] In a third aspect, the present application provides a perception method applied to a session node of a first network, comprising: sending a network session request message to a management node of a second network, the network session request message being used to discover at least one target terminal from the second network; receiving a sensing result sent by the management node, the sensing result being obtained based on measurement result information sent by each target terminal; The measurement result is obtained based on a sensing measurement request message.

[0019] Optionally, according to the sensing method, after the network session request message is sent to the management node of the second network, the method further includes: receiving a request response message sent by the management node; The network session request message includes at least one of the following: an operation code; a second layer identifier L2ID of a peer node; and the number of terminals; The request response message includes at least one of the following: an operation code; a second layer identifier L2ID of a peer node; the number of target terminals; and an ID of each target terminal.

[0020] Optionally, according to the sensing method, before the sensing result sent by the management node is received, the method further includes: sending a sensing measurement parameter configuration request message to the management node, the sensing measurement parameter configuration request message being used to determine a sensing measurement parameter.

[0021] Optionally, according to the sensing method, the sensing measurement parameter includes any of the following: a channel and bandwidth configuration parameter; a waveform parameter; a measurement feedback parameter; measurement type information.

[0022] In a fourth aspect, the application further provides a sensing device applied to a management node of a second network, and including: a first discovery module configured to receive a network session request message sent by a session node of a first network, and discover at least one target terminal from the second network based on the network session request message; a first allocation module configured to send a sensing measurement request message to each target terminal, and allocate a transmission strategy and a unique callback pointer to each target terminal; a first sensing module configured to receive measurement result information sent by each target terminal, determine a sensing result based on each measurement result information, and send the sensing result to the session node; The measurement result is obtained based on a sensing measurement request message. The transmission strategy is used to limit a data transmission mode of each target terminal and the management node. The callback pointer is used to adjust the transmission strategy.

[0023] In a fifth aspect, the present application provides a sensing device, applied to a target terminal of a second network, comprising: a second distribution module, configured to receive a sensing measurement request message sent by the management node, and obtain a transmission strategy and a unique callback pointer distributed by the management node; a second sensing module, configured to send measurement result information to the management node; The measurement result is obtained based on target sensing of the sensing measurement request message. The transmission strategy is used to limit the data transmission mode of each target terminal and the management node. The callback pointer is used to adjust the transmission strategy.

[0024] In a sixth aspect, the present application provides a sensing device, applied to a session node of a first network, comprising: a third discovery module, configured to send a network session request message to a management node of a second network, the network session request message being used to discover at least one target terminal from the second network; a third sensing module, configured to receive a sensing result sent by the management node, the sensing result being obtained based on measurement result information sent by each target terminal; The measurement result is obtained based on target sensing of the sensing measurement request message.

[0025] In a seventh aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the sensing method of the first aspect, the second aspect, or the third aspect.

[0026] In an eighth aspect, the present application provides a non-transitory computer readable storage medium, having a computer program stored thereon, wherein the computer program is executable by a processor to implement the sensing method of the first aspect, the second aspect, or the third aspect.

[0027] The perception method and device provided in the application, through a management node of a second network, receives a network session request message sent by a session node of a first network, and finds target terminals in the second network; subsequently, the management node sends a perception measurement request message to each target terminal, and allocates a transmission strategy and a unique callback pointer to each target terminal, so as to adjust the transmission strategy in the transmission process, thereby ensuring the stability and reliability of data transmission. Further, the management node receives measurement result information sent by each target terminal, determines a perception result based on each measurement result information, and sends the perception result to the session node. Therefore, compared with the traditional single-node perception technology, the method and device disperse the single-node communication and calculation pressure by processing data through multiple target terminals, improve the communication performance, optimize the utilization of calculation resources, and can solve the bottleneck of communication performance, calculation resources, and perception accuracy of the single node in the large-scale data processing scene, thereby improving the perception capability. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0029] Figure 1 is one of the flowcharts of the perception method provided in the application.

[0030] Figure 2 is one of the information interaction diagrams of the perception method provided in the application.

[0031] Figure 3 is an example diagram of the perception system provided in the application.

[0032] Figure 4 is the second information interaction diagram of the perception method provided in the application.

[0033] Figure 5 is the second flowchart of the perception method provided in the application.

[0034] Figure 6 is the third flowchart of the perception method provided in the application.

[0035] Figure 7 is the third information interaction diagram of the perception method provided in the application.

[0036] Figure 8 is one of the structural diagrams of the perception device provided in the application.

[0037] Figure 9Fig. 2 is a structural schematic diagram of a perception device provided in the present application.

[0038] Figure 10 Fig. 3 is a structural schematic diagram of a perception device provided in the present application.

[0039] Figure 11 Fig. 4 is a structural schematic diagram of an electronic device provided in the present application. DETAILED DESCRIPTION

[0040] In the embodiments of the present application, the term "at least one" refers to one or more, and other quantifiers are similar to it.

[0041] In the embodiments of the present application, the terms "first", "second", and the like are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" are usually of the same type and do not limit the number of objects, for example, the first object can be one or more.

[0042] To make the purposes, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0043] Figure 1 Fig. 1 is a flow schematic diagram of a perception method provided in the present application, which is applied to a management node of a second network, as shown in Fig. 2, the method can include the following steps: Figure 1 Step 110, receiving a network session request message sent by a session node of a first network, discovering at least one target terminal from the second network based on the network session request message; Step 120, sending a perception measurement request message to each target terminal, and allocating a transmission strategy and a unique callback pointer to each target terminal; Step 130, receiving measurement result information sent by each target terminal, determining a perception result based on each measurement result information, and sending the perception result to the session node; Wherein, the measurement result is obtained based on the perception measurement request message for target perception; The transmission strategy is used to limit the data transmission mode of each target terminal and the management node; The callback pointer is used to adjust the transmission strategy.

[0044] ​It should be noted that the entity executing the above-mentioned sensing method is the management node of the second network. The management node can be a node in the second network responsible for sending data scheduling information, or it can be a short-range domain aggregation node in a heterogeneous network system, such as a wireless short-range access controller, a cellular base station, a core network node, or other nodes capable of performing the above functions. This application does not make any specific limitations on this.

[0045] Specifically, the first network refers to the communication network where the session node is located, which provides wide-area coverage and cross-network session capabilities. For example, cellular communication networks, satellite communication networks, dedicated networks, or other networks with communication coverage capabilities are not specifically limited in this application.

[0046] The second network refers to the communication network connecting the management node and the target terminal. Examples include short-range wireless communication networks, wireless local area networks, industrial IoT networks, or other networks with short-range communication capabilities; this application does not specifically limit this type of network.

[0047] The session node can be a core network functional node in a cellular network, a satellite core control unit in a satellite communication network, a session management device in a dedicated network, or other nodes capable of cross-network session management and result reception. This application does not specifically limit this.

[0048] The target terminal can be an end-side node in a short-range wireless communication system, receiving access layer resource management information sent by the management node and performing sensing measurements, or other devices capable of participating in short-range communication. This application does not specifically limit this.

[0049] The transmission strategy can be statically preset or an adaptive strategy that is dynamically adjusted according to the real-time network environment. This application does not make any specific limitations on this.

[0050] The transmission strategy parameters may include parameters such as retransmission count, feedback period, channel allocation, and priority scheduling.

[0051] Specifically, such as Figure 2 As shown, in a scenario where multi-node collaborative sensing improves terminal communication reliability, in step 110, the session node of the first network sends a network session request message to the management node of the second network. Upon receiving the network session request message, the management node initiates a device discovery process based on the message, discovering terminal node 1, terminal node 2, terminal node 3, and terminal node 4 from the second network, and designating each discovered terminal node as a target terminal. Each target terminal can establish a connection with the management node via short-range wireless communication, thereby forming a collaborative sensing network.

[0052] Subsequently, clock synchronization procedures are performed among the session node, the management node, and the target terminals. The management node initiates a service clock synchronization request to the session node and performs high-precision timing based on the first network. After the management node completes the selection of the master clock, it generates an accurate time source and broadcasts time information to the target terminal nodes through the second network to achieve high-precision time synchronization.

[0053] In step 120, the management node sends a perception measurement request message to each target terminal and enters a parameter configuration procedure. In the parameter configuration procedure, the management node allocates a transmission strategy and a unique callback pointer to each target terminal. The callback pointer is a logical pointer allocated by the management node to the target terminal for adjusting the transmission strategy. For example, when the link quality decreases, the management node triggers a callback function to adjust the channel or bandwidth allocation.

[0054] In step 130, in the network cooperation procedure, each target terminal receives the perception measurement request message sent by the management node and performs perception measurement. After completing the perception measurement, each target terminal sends the measurement result information to the management node. After receiving the measurement results reported by multiple target terminals, the management node analyzes each measurement result information to obtain the perception result of each target terminal.

[0055] Finally, in the result reporting procedure, the management node can trigger the callback pointer to adjust the transmission strategy according to the perception result, and send the perception result to the session node of the first network.

[0056] Figure 3 is an example diagram of the perception system provided by the present application, as shown in Figure 3 The multi-node cooperative positioning system includes a management node (controller A) of a second network (wireless short-distance network), terminal nodes (road test and sensing devices) B / C / D / E / F / G, a session node (5G Radio Access Network, 5G RAN) of a first network (cellular communication network), and mobile objects distributed in a continuous open area. Among them, part of the road test and sensing devices can perform cooperative perception on the mobile objects nearby.

[0057] The controller A of the wireless short-range network receives a network session request message sent by the 5G RAN of the cellular communication network, and discovers at least one road test sensing device from the wireless short-range network based on the network session request message. The controller A sends a sensing measurement request message to the discovered road test sensing device, and allocates a transmission strategy and a unique callback pointer for each road test sensing device, so as to realize cooperative sensing of multiple nodes. Each road test sensing device is responsible for collecting its own wireless sensing data (such as ranging, positioning, and environmental sensing data), and generates measurement result information. Each road test sensing device sends the measurement result information to the controller A through the wireless short-range network. The controller A receives the measurement result information sent by each road test sensing device, determines a sensing result based on each measurement result information, and sends the sensing result to the 5G RAN.

[0058] The sensing method provided in the application receives a network session request message sent by a session node of a first network through a management node of a second network, and discovers target terminals in the second network. Then, the management node sends a sensing measurement request message to each target terminal, and allocates a transmission strategy and a unique callback pointer for each target terminal, so as to adjust the transmission strategy in the transmission process, thereby ensuring the stability and reliability of data transmission. Further, the management node receives measurement result information sent by each target terminal, determines a sensing result based on each measurement result information, and sends the sensing result to the session node. Therefore, compared with the conventional single-node sensing method, the bottleneck of the single node in the communication performance, computing resource, sensing accuracy, and the like in the large-scale data processing scene can be solved, thereby improving the sensing capability.

[0059] In one embodiment, discovering at least one target terminal in the second network based on the network session request message comprises: determining the number of required terminals based on the session request message; discovering the target terminal in the second network in any of the following ways until the number of target terminals meets the requirement: receiving device public information sent by the target terminal in the second network through broadcasting; broadcasting a set formation invitation to the target terminal in the second network, and receiving an invitation response message of the target terminal; wherein the device public information is used to identify the target terminal; the invitation response message is generated based on the broadcast set formation invitation, and the response message is used to identify the target terminal.

[0060] Specifically, the device public information can include a terminal identifier, supported sensing measurement types (such as ranging, positioning, and angle estimation), current communication capability (such as channel bandwidth and transmission power), resource occupation, available state, and the like, which are not limited in the application.

[0061] The broadcast can carry a broadcast identity for distinguishing different types of control broadcast. For example, a device exposure information broadcast or a set formation invitation broadcast can be distinguished by the broadcast identity.

[0062] The broadcast identity can be consistent with an identity field carried in a general control broadcast transmission channel to ensure protocol compatibility.

[0063] The set formation invitation indicates that the management node invites target terminals in the second network to join the set.

[0064] The target terminals in the set are used for the same perception task. For example, during the execution of the perception task, the management node can flexibly adjust the number of set members according to actual needs, and when the perception accuracy does not meet the expected standard or the communication stability is poor to affect data transmission, etc., the set member expansion mechanism is triggered.

[0065] The set member expansion mechanism can be indicated by the session node to the management node according to the demand of the network session request, or can be initiated by the management node according to the terminal state and task execution situation in the second network, which is not limited in the present application.

[0066] Specifically, as shown in the first aspect, Figure 4 As shown in the first aspect, in the scenario of multi-node cooperative perception to improve terminal communication reliability, first, the management node receives a network session request message sent by a 5GC (5G Core Network) session network element of the first network, and determines the required number of terminals according to the network session request message. For example, in the case of high-precision positioning, the required number of target terminals is relatively large to ensure the accuracy and robustness of the measurement result; in the case of low-power consumption environment, the required number is relatively small to reduce system energy consumption and transmission burden.

[0067] Optionally, in the first mode, the management node discovers the target terminals by receiving the device exposure information broadcast by the terminals in the second network until the discovered target terminals meet the required number. For example, the management node receives the broadcast information periodically sent by the terminals, and quickly obtains the information of multiple terminals without the need for one-by-one query, thereby improving the efficiency of device discovery to adapt to high-concurrency scenarios.

[0068] Optionally, in the second mode, the management node can broadcast a set formation invitation to the target terminals in the second network. After receiving the set formation invitation, the target terminal can decide whether to join based on its own resource status and configuration strategy, and return an invitation response message to the management node. The response message can include terminal identification, capability description and confirmation information of joining the set. The management node further confirms the availability and cooperation willingness of the target terminals according to the response message until the discovered target terminals meet the required number.

[0069] The above two manners can be selected according to specific scenarios, and the target terminal discovered by any manner can establish a connection with the management node, thereby providing a basis for subsequent parameter configuration, allocation of transmission strategies and a unique callback pointer, to realize cooperative sensing of multiple nodes.

[0070] Further, after the management node establishes a connection with the target terminal, the management node can access related services as a client according to a service management process, thereby completing configuration of collection information. The collection information can include collection key information, a collection member quantity, a collection service identifier, a collection role and a collection device discovery mode.

[0071] The sensing method provided in the present application determines the required target terminal quantity through a session request message, the management node can receive device public information broadcast by the target terminal, or broadcast a collection group invitation to the target terminal in the second network, until the discovered target terminal satisfies the required terminal quantity. The method can ensure that the target terminal has clear recognizability and usability in the discovery stage, avoids the problems of insufficient flexibility and poor adaptability caused by traditional single-node or single-way discovery, and realizes efficient and reliable discovery of terminals in diversified scenarios.

[0072] In one embodiment, the sensing measurement request message includes sensing measurement parameters; the sensing measurement parameters include any of the following: channel and bandwidth configuration parameters; waveform parameters; measurement feedback parameters; measurement type information.

[0073] Specifically, the channel and bandwidth configuration parameters are used to indicate the communication resources used by the target terminal in the sensing process, for example, the number of assignable channels, the size of the bandwidth and the frequency point position, etc., which are not limited in the present application.

[0074] The waveform parameters are used to indicate the characteristics of the sensing measurement signal, for example, the selection of the sequence set, the maximum number of symbol repetitions and the number of supported measurement sessions, etc., which are not limited in the present application.

[0075] The measurement feedback parameters are used to indicate the data type and feedback manner required by the target terminal after completing the measurement, for example, feedback of CIR (Channel Impulse Response), distance information and Doppler shift information, etc., which are not limited in the present application.

[0076] The measurement type information is used to indicate a specific mode of the perception measurement, for example, a self-transmission and self-reception (terminal self-transmission and self-reception), a cooperative measurement (a plurality of terminals cooperatively complete the perception task), or a division measurement mode (one terminal transmits and another terminal receives, i.e., A transmits and B receives), etc., which is not limited in the present application.

[0077] The perception method provided in the present application carries the perception measurement parameter in the perception measurement request message, wherein the perception measurement parameter can include any one of waveform parameter, measurement feedback parameter, measurement type information, and channel and bandwidth configuration parameter, so as to realize the fine configuration of the perception measurement of the target terminal by the management node. The method can select a suitable parameter combination according to different application scenarios and requirements, and realize the flexible configuration of the perception measurement parameter.

[0078] In one embodiment, after discovering at least one target terminal from the second network based on the network session request message, the method further comprises: sending a request response message to the session node; The network session request message comprises at least one of the following: operation code; L2ID (Layer 2 Identifier, second layer identifier of the opposite node); and number of terminals; The request response message comprises at least one of the following: operation code; L2ID; number of target terminals; and ID of each target terminal.

[0079] Specifically, the operation code is used to indicate the operation type of the message. For example, the operation code can identify that the operation type of the message is a target terminal discovery process, and the operation codes of the network session request message and the request response message correspond to each other, so that the session node can correctly parse and confirm the request response message after the management node discovers at least one target terminal from the second network based on the network session request message.

[0080] The L2ID of the opposite node is used to identify the opposite node of the communication at the link layer, which can ensure that the network session request message and the request response message are correctly matched. In the network session request message, the L2ID of the opposite node is used to indicate the management node to which the network session request message is to be sent; in the request response message, the L2ID of the opposite node is used to indicate the session node to which the request response message is to be sent.

[0081] Specifically, in the scenario of multi-node cooperative sensing to improve terminal communication reliability, the session node sends a network session request message to the management node of the second network. The network session request message can carry an operation code, used to identify the operation type of the current message as a device discovery process; can also carry the L2ID of the opposite node, used to identify the communication opposite end at the link layer, so that the network session request message can be correctly sent to the management node; and can also carry the required terminal quantity, used to indicate the number of target terminals that the management node needs to discover in the second network.

[0082] Subsequently, after the management node discovers at least one target terminal based on the network session request message, the management node sends a request response message to the session node. The request response message can carry an operation code corresponding to the operation code in the session request message, used to ensure the consistency of the message operation type; can also carry the L2ID of the opposite node, used to indicate the session node to which the request response message is to be returned; and can also carry the number of target terminals and the IDs of the corresponding target terminals, used to identify the target terminals actually confirmed by the management node.

[0083] The sensing method provided in the present application further sends a request response message to the session node after the management node discovers at least one target terminal based on the network session request message; wherein the network session request message can include at least one of an operation code, an L2ID of an opposite node, and a terminal quantity, and the response message can include at least one of an operation code, an L2ID of an opposite node, a target terminal quantity, and an ID of each target terminal, thereby ensuring the message interaction integrity in the terminal discovery process and the accuracy of the discovery result. This method can ensure that the session node accurately learns the actual confirmation of the target terminals in the second network by the management node, avoid the problem of inconsistent information or difficult-to-confirm results, and improve the effective interaction among the session node, the management node, and the target terminals.

[0084] In one embodiment, before sending the sensing measurement request message to each target terminal, the method further includes: receiving a sensing measurement parameter configuration request message sent by the session node, and determining the sensing measurement parameters based on the sensing measurement parameter configuration request message.

[0085] Specifically, the sensing measurement parameter configuration request message is used to indicate the parameter configuration requirements proposed by the session node for sensing measurement. After receiving the sensing measurement parameter configuration request message, the management node can parse the fields carried in the message and determine the adapted sensing measurement parameters, to ensure that the sensing measurement request message subsequently sent to the target terminal is consistent with the requirements of the session node.

[0086] The perception measurement parameter configuration request message can include an operation code, an L2 ID, a perception measurement request message ID, a communication mode indication, and a network cooperation type, and the present application does not make specific limitations on this.

[0087] Specifically, in the scenario of multi-node cooperative perception improving terminal communication reliability, first, the session node sends a perception measurement parameter configuration request message to the management node of the second network, which is used to indicate the parameter configuration requirement of the session node for the perception measurement. The request message can carry an operation code, which is used to identify the operation type of the message as parameter configuration; can carry an L2 ID, which is used to identify the opposite node of the communication at the link layer, so as to ensure the correct matching of the message interaction; can also carry a perception measurement request message ID, which is used to uniquely identify the session corresponding to this parameter configuration; at the same time, it can also carry a communication mode indication, which is used to indicate that the communication mode expected to be adopted is cellular communication, short distance wireless communication or the integration of the two; and a network cooperation type, which is used to indicate the cooperation mode adopted for this perception measurement, such as a self-generation and self-reception mode, a cooperative mode or a division of labor mode.

[0088] Subsequently, the management node parses the fields contained in the perception measurement parameter configuration request message after receiving it, and determines the adapted perception measurement parameter in combination with the current network state and the target terminal capability.

[0089] Further, after the management node determines the perception measurement parameter, it carries the perception measurement parameter in the perception measurement request message sent to each target terminal in the subsequent, so that each target terminal can perform the perception measurement according to the configuration.

[0090] The perception method provided by the present application receives the perception measurement parameter configuration request message sent by the session node before the management node sends the perception measurement request message to each target terminal, and determines the perception measurement parameter based on the perception measurement parameter configuration request message, so as to ensure that the determination process of the perception measurement parameter is consistent with the demand of the session node. This method can ensure that the management node fully considers the demand of the session node when generating the perception measurement request, and realizes the matching of the perception measurement parameter and the actual demand.

[0091] In one embodiment, the method can further include: In the case that any one of the measurement result information meets a preset condition, triggering the callback pointer to adjust the transmission strategy; The preset condition includes at least one of the following: The RSRP (Reference Signal Received Power) in the measurement result information is less than or equal to an RSRP threshold value; a Received Signal Strength Indicator (RSSI) in the measurement result information is less than or equal to an RSSI threshold value; a Reference Signal Received Quality (RSRQ) in the measurement result information is less than or equal to an RSRQ threshold value; a Signal to Interference plus Noise Ratio (SINR) in the measurement result information is less than or equal to an SINR threshold value; an error code rate in the measurement result information is greater than or equal to an error code rate threshold value; a transceiving rate in the measurement result information is less than or equal to a transceiving rate threshold value; an Angle of Arrival (AoA) is greater than or equal to an AoA threshold value; an Angle of Departure (AoD) is greater than or equal to an AoD threshold value; a Time of Flight (ToF) is greater than or equal to a ToF threshold value.

[0092] Specifically, in the scenario of multi-node cooperative sensing to improve terminal communication reliability, the management node analyzes each measurement result information after receiving the measurement result information sent by the target terminal. When any one of the measurement result information meets the preset condition, the callback pointer is triggered to adjust the transmission strategy. The preset condition includes at least one of the following: 1. In the case where the RSRP in the measurement result information is less than or equal to the RSRP threshold value, it indicates that the signal coverage is insufficient or the receiving end is too far away, and the management node can trigger the callback pointer to adjust the power control or select a better access point.

[0093] 2. In the case where the RSSI in the measurement result information is less than or equal to the RSSI threshold value, it indicates that the overall signal strength is low, and the management node can trigger the callback pointer to adjust the frequency selection.

[0094] 3. In the case where the RSRQ in the measurement result information is less than or equal to the RSRQ threshold value, it indicates that the link interference is strong, and the management node can trigger the callback pointer to adjust the bandwidth or use an anti-interference coding mode.

[0095] 4. In the case where the SINR in the measurement result information is less than or equal to the SINR threshold value, it indicates that the noise and interference level is high, and the management node can trigger the callback pointer to adjust to use a more robust modulation and coding scheme.

[0096] 5. In the case that the bit error rate in the measurement result information is greater than or equal to the bit error rate threshold, it indicates that the link reliability decreases and the data error is too much, and the management node can trigger the callback pointer to adjust the error correction coding strength.

[0097] 6. In the case that the transceiving rate in the measurement result information is less than or equal to the transceiving rate threshold, it indicates that the link bandwidth utilization is insufficient or the data throughput is limited, and the callback pointer can be triggered to adjust the bandwidth channel.

[0098] 7. In the case that the AoA in the measurement result information is greater than or equal to the AoA threshold, it indicates that the receiving signal direction deviates, and the management node can trigger the callback pointer to adjust the receiving beam pointing to the new target direction.

[0099] 8. In the case that the AoD in the measurement result information is greater than or equal to the AoD threshold, it indicates that the transmitting end deviates from the target direction, and the management node can trigger the callback pointer to adjust the transmitting beam pointing to the new target direction.

[0100] 9. In the case that the ToF in the measurement result information is greater than or equal to the ToF threshold, it indicates that the signal transmission delay is too large, and the management node can trigger the callback pointer to adjust the transmission path.

[0101] The perception method provided in the application can trigger the callback pointer to adjust the transmission strategy when at least one of the measurement result information meets the preset condition. The method can realize real-time response of the transmission strategy to various environmental changes, thereby ensuring the reliability of the collaborative perception measurement.

[0102] In one embodiment, adjusting the transmission strategy can include at least one of the following: In the case that the data packet loss rate is less than the loss rate threshold, the retransmission number is adjusted from the first preset number to the second preset number; In a predetermined time window, when the retransmission number reported by the management node or the target terminal reaches the maximum retransmission number, the transmission parameter of the retransmission mechanism is adjusted; In the case that the data packet loss rate is greater than the loss rate threshold, selective retransmission or forward error correction is adopted.

[0103] Specifically, the first preset number can be a default retransmission number set at initialization, for example, 5, 7 or 9; or it can be dynamically configured by the management node according to the historical statistics of the link quality, which is not limited in the application.

[0104] The second preset number is used to replace the retransmission number parameter of the first preset number. The second preset number can be a default retransmission number set at initialization, for example, 1, 2 or 3; or it can be dynamically adjusted by the management node according to the historical statistics of the packet loss or the current network load, which is not limited in the application.

[0105] The predetermined time window can be a fixed time interval, for example, 100 ms, 200 ms, or 500 ms; or can be dynamically set according to the service type or quality of service requirement, which is not limited in the present application.

[0106] The maximum number of retransmissions can be a safety upper limit value set by the management node to avoid infinite retransmission, for example, 10 times, 20 times, or 30 times; or can be determined according to the requirements of the operation strategy or service level agreement; or can be dynamically adjusted in combination with the real-time network congestion situation, which is not limited in the present application.

[0107] Specifically, in the scenario of multi-node cooperative sensing to improve terminal communication reliability, the callback pointer is used to adjust the transmission strategy.

[0108] Optionally, in the case that the data packet loss rate is less than the loss rate threshold, the management node triggers the callback pointer to adjust the number of retransmissions from the first preset number to the second preset number. For example, in a delay-sensitive scenario, the second preset number can be less than the first preset number, so as to reduce the retransmission overhead and reduce the end-to-end delay.

[0109] Optionally, in the case that the number of retransmissions reported by the management node or the target terminal reaches the maximum number of retransmissions, the management node can adjust the transmission parameters of the retransmission mechanism to avoid falling into invalid retransmission. For example, the transmission parameters can include retransmission interval, feedback period, scheduling priority, or modulation and coding mode, etc.

[0110] Optionally, in the case that the data packet loss rate is greater than the loss rate threshold, the management node can adopt a more robust strategy, for example, selective retransmission or forward error correction. Selective retransmission can only retransmit the lost data packets, so as to reduce redundant transmission; and forward error correction can increase redundant check information, so that the receiving end can recover part of the lost data without retransmission, thereby ensuring the continuity and reliability of cooperative sensing measurement in a high loss environment.

[0111] The sensing method provided in the present application can adjust the number of retransmissions by triggering the callback pointer by the management node when the data packet loss rate is lower than the loss rate threshold; adjust the transmission parameters of the retransmission mechanism by triggering the callback pointer by the management node when the number of retransmissions reaches the maximum number of retransmissions within the predetermined time window; and adopt selective retransmission or forward error correction by triggering the callback pointer by the management node when the data packet loss rate is higher than the threshold, so that the transmission process can be flexibly adapted to the actual scenario. This method can reasonably allocate resources and realize the adaptability of the transmission strategy to the actual scenario, thereby improving the communication efficiency.

[0112] Figure 5 is a flowchart of the sensing method provided in the present application, which is applied to a terminal of a second network, such as Figure 5As shown, the method can include the following steps: Step 510, receiving a sensing measurement request message sent by a management node of a second network, and obtaining a transmission strategy and a unique callback pointer allocated by the management node; Step 520, sending measurement result information to the management node; Wherein, the measurement result is obtained based on the target sensing of the sensing measurement request message; The transmission strategy is used to limit the data transmission mode of the terminal and the management node; The callback pointer is used to adjust the transmission strategy.

[0113] It should be noted that the execution subject of the above-mentioned sensing method is the terminal of the second network. The terminal can be an end-side node in a short-range wireless communication system, which receives access layer resource management information sent by the management node and performs sensing measurement, or other devices capable of participating in short-range communication, which are not limited in the present application.

[0114] The second network refers to a communication network connecting the management node and the target terminal. For example, a wireless short-range communication network, a wireless local area network, an industrial Internet of Things network, or other networks with short-range communication, which are not limited in the present application.

[0115] The management node can be a node responsible for sending data scheduling information in the second network, or a short-range domain aggregation node in a heterogeneous network system, such as a wireless short-range access controller, a cellular base station, a core network node, or other nodes capable of performing the above functions, which are not limited in the present application.

[0116] The session node can be a core network function node in a cellular network, a satellite core control unit in a satellite communication network, a session management device in a government and enterprise private network, or other nodes capable of implementing cross-network session management and result reception, which are not limited in the present application.

[0117] The transmission strategy can be a static pre-set strategy, or a self-adaptive strategy dynamically adjusted according to real-time network environment, which is not limited in the present application.

[0118] Wherein, the transmission strategy parameters can include retransmission times, feedback periods, channel allocation, and priority scheduling parameters.

[0119] Specifically, as Figure 2As shown, in the scenario of improving terminal communication reliability through multi-node cooperative sensing, after the management node discovers at least one target terminal from the second network, the clock synchronization process is performed between the session node, the management node, and each target terminal. The management node initiates a service clock synchronization request to the session node, and performs high-precision timing based on the first network. After the management node completes the selection of the master clock, an accurate time source is generated, and time information is broadcast to each target terminal node through the second network, so as to realize high-precision time synchronization.

[0120] In step 510, when the terminal is a target terminal, each terminal receives the sensing measurement request message sent by the management node, and enters the parameter configuration process. In the parameter configuration process, each target terminal obtains the transmission strategy and unique callback pointer allocated by the management node. The callback pointer is a logical pointer allocated by the management node to the target terminal, which is used to adjust the transmission strategy. For example, when the link quality decreases, the management node triggers the callback function to adjust the channel or bandwidth allocation.

[0121] In step 520, in the network cooperation process, each target terminal receives the sensing measurement request message sent by the management node, and performs sensing measurement. After each target terminal completes the sensing measurement, the measurement result information is sent to the management node. After the management node receives the measurement results reported by multiple target terminals, the measurement result information is analyzed to obtain the sensing result of each target terminal.

[0122] Finally, in the result reporting process, the management node adjusts the transmission strategy according to the sensing result by triggering the callback pointer, and sends the sensing result to the session node of the first network.

[0123] Figure 3 is an example diagram of the sensing system provided by the present application, as Figure 3 As shown, the multi-node cooperative positioning system includes a management node (controller A) of a second network (wireless short-distance network), terminal nodes (road test sensing devices) B / C / D / E / F / G, a session node (5G Radio Access Network, 5G RAN) of a first network (cellular communication network), and mobile objects distributed in a continuous open area. Among them, part of the road test sensing devices can perform cooperative sensing on the mobile objects nearby.

[0124] The controller A of the wireless short-range network receives a network session request message sent by the 5G RAN of the cellular communication network, and discovers at least one road-sensing device from the wireless short-range network based on the network session request message. The controller A sends a sensing measurement request message to the discovered road-sensing device, and allocates a transmission strategy and a unique callback pointer for each road-sensing device, so as to realize cooperative sensing of multiple nodes. Each road-sensing device is responsible for collecting its own wireless sensing data (such as ranging, positioning, and environmental sensing data), and generates measurement result information. Each road-sensing device sends the measurement result information to the controller A through the wireless short-range network. The controller A receives the measurement result information sent by each road-sensing device, determines a sensing result based on each measurement result information, and sends the sensing result to the 5G RAN.

[0125] The sensing method provided in the application receives a sensing measurement request message sent by a management node of a second network by a terminal, and obtains a transmission strategy and a unique callback pointer allocated by the management node, so that the terminal can adjust the transmission strategy according to the callback pointer in the transmission process. Further, each target terminal sends measurement result information to the management node. Therefore, compared with the conventional single-node sensing method, the bottleneck of the single node in the large-scale data processing scene in terms of communication performance, computing resources, sensing accuracy, and the like can be solved, so as to improve the sensing capability.

[0126] In one embodiment, the method can further include any one of the following: broadcasting device disclosure information of the terminal to the management node; receiving a set formation invitation sent by the management node through broadcasting, and sending an invitation response message to the management node; wherein the device disclosure information is used to identify the terminal; the invitation response message is generated based on the broadcast set formation invitation, and the response message is used to identify the terminal.

[0127] Specifically, the device disclosure information can include a terminal identifier, supported sensing measurement types (such as ranging, positioning, and angle estimation), current communication capability (such as channel bandwidth and transmission power), resource occupation, available state, and the like, which are not limited in the application.

[0128] The broadcast can carry a broadcast identifier, which is used to distinguish different types of control broadcasts. For example, the device disclosure information broadcast or the set formation invitation broadcast can be distinguished by the broadcast identifier.

[0129] The broadcast identifier can be consistent with an identifier field carried in a general control broadcast transmission channel, so as to ensure protocol compatibility.

[0130] The set formation invitation refers to an invitation of the management node to the target terminal in the second network to join a set.

[0131] The target terminals in the set are used for the same perception task. For example, during the execution of the perception task, the management node can flexibly adjust the number of set members according to actual needs, and when the perception accuracy does not meet the expected standard or the communication stability is poor to affect data transmission, the set member expansion mechanism is triggered.

[0132] The set member expansion mechanism can be initiated by the management node according to the demand indication of the network session request of the session node, or by the management node according to the state of the terminals in the second network and the task execution situation. The present application does not make specific limitations.

[0133] Specifically, as shown in Figure 4 In the scenario of multi-node cooperative perception to improve terminal communication reliability, first, the management node receives the network session request message sent by the 5GC session network element of the first network, and determines the number of terminals required according to the network session request message. For example, in the case of high-precision positioning, the number of target terminals required is relatively large to ensure the accuracy and robustness of the measurement results; in the case of low-power consumption environment, the number required is relatively small to reduce system energy consumption and transmission burden.

[0134] Optionally, in the first mode, the management node discovers the target terminal by receiving the device public information broadcast by the terminal in the second network until the discovered target terminal meets the required number. For example, the management node receives the broadcast information periodically sent by the terminal, and quickly obtains the information of multiple terminals without the need for one-by-one query, thereby improving the efficiency of device discovery to adapt to high-concurrency scenarios.

[0135] Optionally, in the second mode, the management node can broadcast a set formation invitation to the target terminals in the second network. After receiving the set formation invitation, the target terminal can decide whether to join based on its own resource status and configuration strategy, and return an invitation response message to the management node. The response message can include terminal identification, capability description and confirmation information of joining the set. The management node further confirms the availability and cooperation willingness of the target terminal according to the response message until the discovered target terminal meets the required number.

[0136] The above two modes can be selected according to the specific scene, and the target terminals discovered by any mode can establish a connection with the management node, thereby providing a basis for subsequent parameter configuration, allocation of transmission strategy and unique callback pointer to realize multi-node cooperative perception.

[0137] Further, after the management node establishes a connection with the target terminal, the management node can access related services as a client according to a service management process, thereby completing configuration of the collection information. The collection information can include collection key information, a collection member quantity, a collection service identifier, a collection role, and a collection device discovery mode.

[0138] The perception method provided in the present application can broadcast device disclosure information of the terminal to the management node, and can also receive a collection invitation sent by the management node in the second network through broadcasting until the discovered target terminals meet the required quantity. The method can ensure that the target terminals have clear recognizability and availability in the discovery stage, avoid the problems of insufficient flexibility and poor adaptability caused by traditional single-node or single-way discovery, and achieve efficient and reliable discovery of terminals in diversified scenarios.

[0139] In one embodiment, the perception measurement request message includes perception measurement parameters; the perception measurement parameters include any of the following: a channel and bandwidth configuration parameter; a waveform parameter; a measurement feedback parameter; measurement type information.

[0140] Specifically, the channel and bandwidth configuration parameter is used to indicate the communication resource used by the target terminal in the perception process, such as an allocatable channel number, a bandwidth size, and a frequency point position, etc., which are not limited in the present application.

[0141] The waveform parameter is used to indicate the characteristics of the perception measurement signal, such as selection of a sequence set, a maximum repetition number of a symbol, and a supported measurement session quantity, etc., which are not limited in the present application.

[0142] The measurement feedback parameter is used to indicate the data type and feedback mode that need to be fed back by the target terminal after completing the measurement, such as feedback of CIR (Channel Impulse Response), distance information, and Doppler shift information, etc., which are not limited in the present application.

[0143] The measurement type information is used to indicate the specific mode of the perception measurement, such as self-transmission and self-reception (terminal self-transmission and self-reception), cooperative measurement (multiple terminals cooperatively complete the perception task), or division measurement mode (one terminal transmits and another terminal receives, i.e., A transmits and B receives), etc., which are not limited in the present application.

[0144] The perception method provided in the application carries the perception measurement parameter in the perception measurement request message, wherein the perception measurement parameter can include any one of waveform parameter, measurement feedback parameter, measurement type information, and channel, bandwidth configuration parameter, so as to realize fine configuration of the perception measurement of the target terminal by the management node. The method can select a suitable parameter combination according to different application scenarios and requirements, and realize flexible configuration of the perception measurement parameter.

[0145] In one embodiment, the callback pointer adjusts the transmission strategy in the case where the measurement result information meets the preset condition; The preset condition includes at least one of the following: The RSRP in the measurement result information is less than or equal to the RSRP threshold value; The RSSI in the measurement result information is less than or equal to the RSSI threshold value; The RSRQ in the measurement result information is less than or equal to the RSRQ threshold value; The SINR in the measurement result information is less than or equal to the SINR threshold value; The bit error rate in the measurement result information is greater than or equal to the bit error rate threshold value; The transceiving rate in the measurement result information is less than or equal to the transceiving rate threshold value; The AoA is greater than or equal to the AoA threshold value; The AoD is greater than or equal to the AoD threshold value; The ToF is greater than or equal to the ToF threshold value.

[0146] Specifically, in the scenario of multi-node cooperative perception improving terminal communication reliability, when any one of the measurement result information meets the preset condition, the callback pointer is triggered to adjust the transmission strategy. The preset condition includes at least one of the following: 1. In the case where the RSRP in the measurement result information is less than or equal to the RSRP threshold value, it indicates that the signal coverage is insufficient or the receiving end is too far away, and the management node can trigger the callback pointer to adjust the power control or select a better access point.

[0147] 2. In the case where the RSSI in the measurement result information is less than or equal to the RSSI threshold value, it indicates that the overall signal strength is low, and the management node can trigger the callback pointer to adjust the frequency selection.

[0148] 3. In the case where the RSRQ in the measurement result information is less than or equal to the RSRQ threshold value, it indicates that the link interference is strong, and the management node can trigger the callback pointer to adjust the bandwidth or adopt an anti-interference coding mode.

[0149] 4. In the case where the SINR in the measurement result information is less than or equal to the SINR threshold value, it indicates that the noise and interference level is high, and the callback pointer can be triggered to adjust to adopt a more robust modulation and coding scheme.

[0150] 5. If the bit error rate in the measurement results is greater than or equal to the bit error rate threshold, it indicates that the link reliability has decreased and there are too many data errors. The management node can trigger the callback pointer to adjust the error correction coding strength.

[0151] 6. If the transmit / receive rate in the measurement results is less than or equal to the transmit / receive rate threshold, it indicates that the link bandwidth is underutilized or the data throughput is limited. The management node can trigger the callback pointer to adjust the bandwidth channel.

[0152] 7. If the AoA in the measurement result information is greater than or equal to the AoA threshold, it indicates that the direction of the received signal has shifted. The management node can trigger the callback pointer to adjust the direction of the received beam to the new target direction.

[0153] 8. If the AoD in the measurement result information is greater than or equal to the AoD threshold, it indicates that the transmitter is deviating from the target direction. The management node can trigger the callback pointer to adjust the transmitted beam to the new target direction.

[0154] 9. If the ToF value in the measurement result information is greater than or equal to the ToF threshold, it indicates that the signal transmission delay is too large, and the management node can trigger the callback pointer to adjust the transmission path.

[0155] The sensing method provided in this application adjusts the transmission strategy by triggering a callback pointer in the management node when any one of the measurement results meets a preset condition. This method enables the transmission strategy to respond in real time to various environmental changes, thereby ensuring the reliability of collaborative sensing measurements.

[0156] In one embodiment, adjusting the transmission strategy includes at least one of the following: If the packet loss rate is less than the packet loss rate threshold, the number of retransmissions will be adjusted from the first preset number to the second preset number. Within a predetermined time window, when the number of retransmissions reported by the management node or target terminal reaches the maximum number of retransmissions, the transmission parameters of the retransmission mechanism are adjusted. If the packet loss rate exceeds the packet loss rate threshold, selective retransmission or forward error correction shall be used.

[0157] Specifically, the first preset number of retransmissions can be the default number of retransmissions set during initialization, such as 5, 7, or 9 times; or it can be dynamically configured by the management node based on historical link quality statistics. This application does not make any specific limitations on this.

[0158] The second preset number is used to replace the retransmission number parameter of the first preset number. The second preset number can be a default retransmission number set at initialization, such as 1, 2, or 3; or can be dynamically adjusted by the management node according to historical statistics of packet loss or current network load, which is not limited in the present application.

[0159] The predetermined time window can be a fixed time interval, such as 100 ms, 200 ms, or 500 ms; or can be dynamically set according to the service type or quality of service requirement, which is not limited in the present application.

[0160] The maximum number of retransmissions can be a safety upper limit value set by the management node to avoid infinite retransmission, such as 10, 20, or 30; or can be determined according to the requirements of the operation strategy or service level agreement; or can be dynamically adjusted in combination with the real-time network congestion, which is not limited in the present application.

[0161] Specifically, in the scenario of multi-node cooperative sensing to improve terminal communication reliability, the callback pointer is used to adjust the transmission strategy.

[0162] Optionally, in the case that the data packet loss rate is less than the packet loss rate threshold, the management node triggers the callback pointer to adjust the retransmission number from the first preset number to the second preset number. For example, in a delay-sensitive scenario, the second preset number can be less than the first preset number to reduce the retransmission overhead and reduce the end-to-end delay.

[0163] Optionally, in the case that the retransmission number reported by the management node or the target terminal reaches the maximum number of retransmissions, the management node can adjust the transmission parameters of the retransmission mechanism to avoid falling into invalid retransmission. For example, the transmission parameters can include retransmission interval, feedback period, scheduling priority, or modulation and coding mode, etc.

[0164] Optionally, in the case that the data packet loss rate is greater than the packet loss rate threshold, the management node can adopt a more robust strategy, such as selective retransmission or forward error correction. Selective retransmission can only retransmit the lost data packets to reduce redundant transmission; and forward error correction adds redundant check information to allow the receiving end to recover part of the lost data without retransmission, thereby ensuring the continuity and reliability of cooperative sensing measurement in a high packet loss environment.

[0165] The perception method provided in the application can trigger the callback pointer adjustment retransmission number by the management node when the data packet loss rate is lower than the loss rate threshold; trigger the callback pointer to adjust the transmission parameter of the retransmission mechanism within a predetermined time window when the retransmission number reaches the maximum retransmission number; and trigger the callback pointer to use selective retransmission or forward error correction when the data packet loss rate is higher than the threshold, so that the transmission process can be flexibly adapted to the actual scene. The method can reasonably allocate resources and realize the adaptability of the transmission strategy to the actual scene, thereby improving the communication efficiency.

[0166] Figure 6 Figure 3 is a flowchart of the perception method provided in the application, which is applied to a session node of a first network. As shown in the figure, the method can include the following steps: Figure 6 Step 610, sending a network session request message to a management node of a second network, the network session request message being used to discover at least one target terminal from the second network; Step 620, receiving the perception result sent by the management node, the perception result being obtained based on the measurement result information sent by each target terminal; The measurement result is obtained based on the target perception of the perception measurement request message.

[0167] It should be noted that the execution subject of the above-mentioned perception method is the session node of the first network. The session node can be a core network function node in a cellular network, a satellite core control unit in a satellite communication network, a session management device in a government and enterprise private network, or other nodes capable of realizing cross-network session management and result receiving, which are not limited in the application.

[0168] Specifically, the first network refers to the communication network where the session node is located, which is used to provide wide-area coverage and cross-network session capability. For example, a cellular communication network, a satellite communication network, a dedicated government and enterprise network, or other networks with communication coverage capability, which are not limited in the application.

[0169] The second network refers to the communication network connecting the management node and the target terminal. For example, a wireless short-range communication network, a wireless local area network, an industrial Internet of Things network, or other networks with short-range communication capability, which are not limited in the application.

[0170] The management node can be a node responsible for sending data scheduling information in the second network, or a short-range domain aggregation node in a heterogeneous network system, such as a wireless short-range access controller, a cellular base station, a core network node, or other nodes capable of realizing the above-mentioned functions, which are not limited in the application.

[0171] ​The target terminal can be an end-side node in a short-range wireless communication system, receiving access layer resource management information sent by the management node and performing sensing measurements, or other devices capable of participating in short-range communication. This application does not specifically limit this.

[0172] The transmission strategy can be statically preset or an adaptive strategy that is dynamically adjusted according to the real-time network environment. This application does not make any specific limitations on this.

[0173] The transmission strategy parameters may include parameters such as retransmission count, feedback period, channel allocation, and priority scheduling.

[0174] Specifically, such as Figure 2 As shown, in a scenario where multi-node collaborative sensing improves terminal communication reliability, in step 610, the session node of the first network sends a network session request message to the management node of the second network. Upon receiving the network session request message, the management node initiates a device discovery process based on the message, discovering terminal node 1, terminal node 2, terminal node 3, and terminal node 4 from the second network, and designating each discovered terminal node as a target terminal. Each target terminal can establish a connection with the management node via short-range wireless communication, thereby forming a collaborative sensing network.

[0175] Subsequently, a clock synchronization process is performed between the session nodes, the management node, and each target terminal. The management node initiates a service clock synchronization request to the session nodes and performs high-precision time synchronization based on the first network. After the management node completes the master clock selection, it generates an accurate time source and broadcasts the time information to each target terminal node through the second network to achieve high-precision time synchronization.

[0176] In step 620, during the network collaboration process, each target terminal receives a sensing measurement request message sent by the management node and performs sensing measurements. After completing the sensing measurements, each target terminal sends the measurement results to the management node. After receiving the measurement results reported by multiple target terminals, the management node analyzes the measurement results to obtain the sensing results of each target terminal. Finally, the management node sends the sensing results to the session node of the first network.

[0177] Figure 3 Here is an example diagram of the sensing system provided in this application, such as... Figure 3 As shown, the multi-node cooperative positioning system includes a management node (controller A) of the second network (short-range wireless network), terminal nodes (drive-side sensing devices) B / C / D / E / F / G, a session node (5G Radio Access Network, 5G RAN) of the first network (cellular communication network), and mobile objects distributed in a continuous open area. Among them, some drive-side sensing devices are capable of cooperatively sensing mobile objects in close proximity.

[0178] The controller A of the wireless short-range network receives the network session request message sent by the 5G RAN of the cellular communication network, and discovers at least one road-sensing device from the wireless short-range network based on the network session request message. The controller A sends a sensing measurement request message to the discovered road-sensing device, and allocates a transmission strategy and a unique callback pointer for each road-sensing device, so as to realize the cooperative sensing of multiple nodes. Each road-sensing device is responsible for collecting its own wireless sensing data (such as ranging, positioning, and environmental sensing data), and generating measurement result information. Each road-sensing device sends the measurement result information to the controller A through the wireless short-range network. The controller A receives the measurement result information sent by each road-sensing device, determines a sensing result based on each measurement result information, and sends the sensing result to the 5G RAN.

[0179] The sensing method provided in the present application sends a network session request message to a management node of a second network through a session node of a first network, and the management node discovers target terminals in the second network. Then, the management node receives measurement result information sent by each target terminal, determines a sensing result based on each measurement result information, and further, the session node receives the sensing result sent by the management node. Therefore, compared with the traditional single-node sensing method, the bottleneck of the single node in the communication performance, computing resource, sensing accuracy, and the like in the large-scale data processing scene can be solved, so as to improve the sensing capability.

[0180] In one embodiment, after sending the network session request message to the management node of the second network, the method further includes: receiving a request response message sent by the management node; The network session request message includes at least one of the following: an operation code; a second layer identifier L2ID of the opposite node; and the number of terminals; The request response message includes at least one of the following: an operation code; a second layer identifier L2ID of the opposite node; the number of target terminals; and the ID of each target terminal.

[0181] Specifically, the operation code is used to indicate the operation type of the message. For example, the operation code can identify that the operation type of the message is a target terminal discovery process, and the operation codes of the network session request message and the request response message correspond to each other, so that the session node can correctly parse and confirm the request response message after the management node discovers at least one target terminal from the second network based on the network session request message.

[0182] The L2ID of the opposite node is used to identify the opposite node of the communication at the link layer, which can ensure that the network session request message and the request response message are correctly matched. In the network session request message, the L2ID of the opposite node is used to indicate the management node to which the network session request message is to be sent; in the request response message, the L2ID of the opposite node is used to indicate the session node to which the request response message is to be sent.

[0183] Specifically, in the scenario of multi-node cooperative perception improving terminal communication reliability, the session node sends a network session request message to the management node of the second network. The network session request message can carry an operation code, which is used to identify that the operation type of the current message is a device discovery process; can also carry the L2ID of the opposite node, which is used to identify the opposite node of the communication at the link layer, so that the network session request message can be correctly sent to the management node; and can also carry the required number of terminals, which is used to indicate the number of target terminals that the management node needs to discover in the second network.

[0184] Subsequently, after the management node discovers at least one target terminal based on the network session request message, the session node receives the request response message sent by the management node. The request response message sent by the management node can carry an operation code corresponding to the operation code in the session request message, which is used to ensure the consistency of the operation type of the message; can also carry the L2ID of the opposite node, which is used to indicate the session node to which the request response message is to be returned; and can also carry the number of target terminals and the IDs of the corresponding target terminals, which are used to identify the target terminals actually confirmed by the management node.

[0185] The perception method provided in the present application further receives the request response message sent by the management node after the session node sends the network session request message to the management node of the second network; wherein the network session request message can include at least one of an operation code, an L2ID of an opposite node, and a number of terminals, and the response message can include at least one of an operation code, an L2ID of an opposite node, a number of target terminals, and an ID of each target terminal, thereby ensuring the message interaction integrity and the accuracy of the discovery result in the terminal discovery process. The method can ensure that the session node accurately knows the actual confirmation of the target terminals in the second network by the management node, avoid the problem of inconsistent information or difficult-to-confirm results, and improve the effective interaction among the session node, the management node, and the target terminals.

[0186] In one embodiment, before receiving the perception result sent by the management node, the method further includes: sending a perception measurement parameter configuration request message to the management node; the perception measurement parameter configuration request message is used to determine the perception measurement parameter.

[0187] Specifically, the perception measurement parameter configuration request message is used to indicate the parameter configuration requirement of the session node for the perception measurement. After receiving the perception measurement parameter configuration request message, the management node can parse the fields carried in the perception measurement parameter configuration request message, and determine the adapted perception measurement parameter to ensure that the perception measurement request message subsequently sent to the target terminal matches the requirement of the session node.

[0188] The perception measurement parameter configuration request message can include the operation code, L2 ID, perception measurement request message ID, communication mode indication, network cooperation type and the like, which are not limited in the present application.

[0189] Specifically, in the scenario of multi-node cooperative perception to improve the communication reliability of the terminal, first, the session node sends a perception measurement parameter configuration request message to the management node of the second network. The perception measurement parameter configuration request message is used to indicate the perception measurement parameter configuration requirement of the session node. The request message can include an operation code, which is used to identify that the operation type of the message is parameter configuration; can include an L2 ID, which is used to identify the opposite node of the communication at the link layer to ensure that the message interaction is correctly matched; can include a perception measurement request message ID, which is used to uniquely identify the session corresponding to the parameter configuration; can also include a communication mode indication, which is used to indicate that the expected communication mode is cellular communication, short distance wireless communication or the fusion of the two; and can also include a network cooperation type, which is used to indicate the cooperation mode of the perception measurement, such as the self-generation and self-reception mode, the cooperative mode or the division of labor mode.

[0190] Subsequently, the management node parses the fields contained in the perception measurement parameter configuration request message after receiving the perception measurement parameter configuration request message, and determines the adapted perception measurement parameter in combination with the current network state and the target terminal capability.

[0191] Further, the management node determines the perception measurement parameter, and carries the perception measurement parameter in the perception measurement request message subsequently sent to each target terminal, so that each target terminal can perform the perception measurement according to the configuration.

[0192] The perception method provided in the present application receives the perception measurement parameter configuration request message sent by the session node before the management node sends the perception measurement request message to each target terminal, and determines the perception measurement parameter based on the perception measurement parameter configuration request message, so as to ensure that the determination process of the perception measurement parameter is consistent with the requirement of the session node. The method can ensure that the management node fully considers the requirement of the session node when generating the perception measurement request, and realizes the matching of the perception measurement parameter and the actual requirement.

[0193] In one embodiment, the perception measurement parameter includes any of the following: channel, bandwidth configuration parameter; waveform parameter: measurement feedback parameter; measurement type information.

[0194] Specifically, the channel and bandwidth configuration parameter is used to indicate the communication resource used by the target terminal in the sensing process, such as the assignable channel number, bandwidth size, and frequency point position, etc., which are not limited in the present application.

[0195] The waveform parameter is used to indicate the characteristics of the sensing measurement signal, such as the selection of the sequence set, the maximum number of symbol repetitions, and the number of supported measurement sessions, etc., which are not limited in the present application.

[0196] The measurement feedback parameter is used to indicate the type and feedback mode of the data that the target terminal needs to feedback after completing the measurement, such as feedback CIR (Channel Impulse Response), distance information, and Doppler shift information, etc., which are not limited in the present application.

[0197] The measurement type information is used to indicate the specific mode of the sensing measurement, such as self-transmission and self-reception (terminal self-transmission and self-reception), cooperative measurement (multiple terminals cooperatively complete the sensing task), or division of labor measurement mode (one terminal transmits and another terminal receives, i.e. A transmits and B receives), etc., which are not limited in the present application.

[0198] The sensing method provided by the present application carries the sensing measurement parameter in the sensing measurement request message, wherein the sensing measurement parameter can include any one of the waveform parameter, the measurement feedback parameter, the measurement type information, and the channel and bandwidth configuration parameter, so as to realize the fine configuration of the sensing measurement of the target terminal by the management node. The method can select appropriate parameter combination according to different application scenarios and requirements, and realize the flexible configuration of the sensing measurement parameter.

[0199] In order to more clearly understand the technical solutions of the embodiments of the present application, the present application is described by Figure 7 the flowchart of the sensing system.

[0200] In the scenario of multi-node cooperative sensing to improve terminal communication reliability, first, the session node (5GC session network element) of the first network sends a network session request message to the management node (controller) of the second network. The network session request message can carry the operation code, the L2ID of the opposite node, and the terminal number, etc.

[0201] Then, after receiving the network session request message, the management node starts the device discovery process based on the network session request message to discover the terminal node (device 1, device 2) from the second network. The management node discovers at least one target terminal from the second network, including any one of the following ways: Optionally, in the first mode, the management node implements the discovery of the target terminal by receiving the device disclosure information broadcasted by the terminal in the second network until the discovered target terminals meet the required number.

[0202] Optionally, in the second mode, the management node can broadcast a set formation invitation to the target terminals in the second network. After receiving the set formation invitation, the target terminals can decide whether to join based on their resource status and configuration strategy, and return an invitation response message to the management node. The management node further confirms the availability and cooperation willingness of the target terminals according to the response message until the discovered target terminals meet the required number.

[0203] The above two modes can be selected according to the specific scene, and the target terminals discovered by any mode can establish a connection with the management node, thereby providing a basis for subsequent parameter configuration, allocation of transmission strategy and unique callback pointer, to realize the cooperative sensing of multiple nodes.

[0204] The management node needs to send a request response message to the session node after discovering at least one target terminal based on the network session request message. The request response message can carry parameters such as operation code, L2 ID of the opposite node, ID of the target terminal, and number of target terminals.

[0205] Subsequently, the session node, the management node and each target terminal perform a clock synchronization process. The management node initiates a service clock synchronization request to the session node, and performs high-precision time service based on the first network (cellular network). After the management node completes the selection of the master clock, it generates an accurate time source, and broadcasts time information to each target terminal node through a narrowband signal in the second network, to realize high-precision time synchronization.

[0206] Further, the session node sends an awareness measurement parameter configuration request message to the management node, and the management node determines the awareness measurement parameters based on the awareness measurement parameter configuration request message.

[0207] The management node encapsulates the awareness measurement parameters in an awareness measurement request message and sends it to each target terminal, and allocates transmission strategy and unique callback pointer to each target terminal.

[0208] Then, each target terminal executes an awareness measurement task and generates measurement result information after receiving the awareness measurement request message, and reports it to the management node. After receiving the measurement result information of multiple target terminals, the management node analyzes the measurement result information, and judges whether to dynamically adjust the transmission strategy through the callback pointer based on the event triggering condition. For example, when the link quality is detected to decrease, the management node can trigger the corresponding function to adjust the channel allocation, bandwidth configuration or coding mode through the callback pointer, to ensure the reliability of communication.

[0209] Finally, the management node obtains the sensing result according to the measurement result information reported by each target terminal, and feeds back the sensing result to the session node, so as to realize the linkage transmission of the sensing result. After the sensing measurement is completed, the session ends, and the connection among the session node, the management node and each target terminal is released.

[0210] Figure 8 is one of structural diagrams of the sensing device provided by the present application, which is applied to a management node of a second network, as shown in the figure, the device can include: Figure 8 The first discovery module 810 receives a network session request message sent by a session node of a first network, and discovers at least one target terminal from the second network based on the network session request message; The first allocation module 820 sends a sensing measurement request message to each target terminal, and allocates a transmission strategy and a unique callback pointer to each target terminal; The first sensing module 830 receives measurement result information sent by each target terminal, determines a sensing result based on each measurement result information, and sends the sensing result to the session node; The measurement result is obtained based on the sensing measurement request message; The transmission strategy is used to limit the data transmission mode of each target terminal and the management node; The callback pointer is used to adjust the transmission strategy.

[0211] In one embodiment, the first discovery module 810 is configured to: Determine the number of required terminals based on the session request message; Discover the target terminal in the second network by any of the following ways until the target terminal meets the number: Receive the device public information sent by the target terminal in the second network through broadcasting; Broadcast a set building invitation to the target terminal in the second network, and receive an invitation response message of the target terminal; The device public information is used to identify the target terminal; The invitation response message is generated based on the broadcast set building invitation, and the response message is used to identify the target terminal.

[0212] In one embodiment, the sensing measurement request message includes a sensing measurement parameter; the sensing measurement parameter includes any of the following: Channel, bandwidth configuration parameter; Waveform parameter; Measurement feedback parameter; Measurement type information.​

[0213] In one embodiment, the apparatus further comprises a triggering module (not shown in the figure) configured to: trigger the callback pointer to adjust the transmission strategy when any of the measurement result information satisfies a preset condition; The preset condition comprises at least one of: a reference signal received power (RSRP) in the measurement result information is less than or equal to an RSRP threshold value; a received signal strength indication (RSSI) in the measurement result information is less than or equal to an RSSI threshold value; a reference signal received quality (RSRQ) in the measurement result information is less than or equal to an RSRQ threshold value; a signal to interference noise ratio (SINR) in the measurement result information is less than or equal to an SINR threshold value; an error code rate in the measurement result information is greater than or equal to an error code rate threshold value; a transmission rate in the measurement result information is less than or equal to a transmission rate threshold value; an angle of arrival (AoA) is greater than or equal to an AoA threshold value; an angle of departure (AoD) is greater than or equal to an AoD threshold value; a time of flight (ToF) is greater than or equal to a ToF threshold value.

[0214] In one embodiment, the first awareness module 830 is configured to at least one of: adjust a retransmission number from a first preset number to a second preset number when a packet loss rate is less than a loss rate threshold value; adjust a transmission parameter of a retransmission mechanism when a retransmission number reported by the management node or the target terminal reaches a maximum retransmission number within a predetermined time window; and use selective retransmission or forward error correction when the packet loss rate is greater than the loss rate threshold value.

[0215] In one embodiment, after discovering at least one target terminal from the second network based on the network session request message, the first discovery module 810 is specifically configured to: send a request response message to the session node; The network session request message comprises at least one of: an operation code; a second layer identifier (L2ID) of a peer node; and a number of the terminals; The request response message comprises at least one of: an operation code; a second layer identifier (L2ID) of a peer node; a number of the target terminals; and an ID of each target terminal.

[0216] In one embodiment, before sending the awareness measurement request message to each target terminal, the first allocation module 820 is specifically configured to: receiving the perception measurement parameter configuration request message sent by the session node, and determining the perception measurement parameter based on the perception measurement parameter configuration request message.

[0217] Figure 9 is a structural diagram of a perception device provided by the present application, which is applied to a terminal of a second network, as shown in the figure, the device can include: Figure 9 a second distribution module 910, configured to receive a perception measurement request message sent by the management node, and acquire a transmission strategy and a unique callback pointer distributed by the management node; a second perception module 920, configured to send measurement result information to the management node; wherein the measurement result is obtained by target perception based on the perception measurement request message; the transmission strategy is used to limit the data transmission mode of each target terminal and the management node; the callback pointer is used to adjust the transmission strategy.

[0218] In one embodiment, the device further includes a broadcast module (not shown in the figure), which is configured to perform any of the following: broadcasting device public information of the terminal to the management node; receiving a set group invitation sent by the management node through broadcast, and sending an invitation response message to the management node; wherein the device public information is used to identify the terminal; In one embodiment, the perception measurement request message includes perception measurement parameters; the perception measurement parameters include any of the following: channel, bandwidth configuration parameters; waveform parameters; measurement feedback parameters; measurement type information.

[0219] In one embodiment, the callback pointer adjusts the transmission strategy when the measurement result information meets a preset condition. The device further includes a triggering module (not shown in the figure), which is configured to perform at least one of the following: the reference signal receiving power (RSRP) in the measurement result information is less than or equal to an RSRP threshold value; the received signal strength indication (RSSI) in the measurement result information is less than or equal to an RSSI threshold value; the reference signal receiving quality (RSRQ) in the measurement result information is less than or equal to an RSRQ threshold value; the signal to interference and noise ratio (SINR) in the measurement result information is less than or equal to an SINR threshold value; ​an error code rate in the measurement result information is greater than or equal to an error code rate threshold value; a transceiving rate in the measurement result information is less than or equal to a transceiving rate threshold value; an angle of arrival (AoA) is greater than or equal to an AoA threshold value; an angle of departure (AoD) is greater than or equal to an AoD threshold value; a time of flight (ToF) is greater than or equal to a ToF threshold value.

[0220] In an embodiment, the second awareness module 920 is configured to perform at least one of the following: adjusting the number of retransmissions from a first preset number to a second preset number when the packet loss rate is less than a packet loss rate threshold value; adjusting a transmission parameter of the retransmission mechanism when the number of retransmissions reported by the management node or the target terminal reaches a maximum number of retransmissions within a predetermined time window; adopting selective retransmission or forward error correction when the packet loss rate is greater than the packet loss rate threshold value.

[0221] Figure 10 Fig. 3 is a structural diagram of a third awareness device provided by the present application, which is applied to a session node of a first network, as shown in Fig. 3, the device can include: Figure 10 a third discovery module 1010 configured to send a network session request message to a management node of a second network, the network session request message being used to discover at least one target terminal from the second network; a third awareness module 1020 configured to receive an awareness result sent by the management node, the awareness result being obtained based on measurement result information sent by each target terminal; wherein the measurement result is obtained based on target awareness of an awareness measurement request message.

[0222] In an embodiment, after the third discovery module 1010 sends the network session request message to the management node of the second network, the third discovery module 1010 is specifically configured to: receive a request response message sent by the management node; the network session request message includes at least one of the following: an operation code; a second layer identifier (L2 ID) of a peer node; and the number of terminals; the request response message includes at least one of the following: an operation code; a second layer identifier (L2 ID) of a peer node; the number of target terminals; and an ID of each target terminal.

[0223] In an embodiment, before the third awareness module 1020 receives the awareness result sent by the management node, the third awareness module 1020 is specifically configured to: ​sending a sensing measurement parameter configuration request message to the management node; the sensing measurement parameter configuration request message is used to determine sensing measurement parameters.

[0224] In one embodiment, the sensing measurement parameters include any of the following: channel, bandwidth configuration parameters; waveform parameters: measurement feedback parameters; measurement type information.

[0225] Figure 11 An example of one of the physical structure diagrams of an electronic device is shown in Figure 11 The electronic device can include a processor 1110, a communications interface 1120, a memory 1130, and a communications bus 1140, wherein the processor 1110, the communications interface 1120, and the memory 1130 communicate with each other through the communications bus 1140. The processor 1110 can invoke logical instructions in the memory 1130 to execute the sensing method described in any of the above embodiments, for example, including: receiving a network session request message sent by a session node of a first network, discovering at least one target terminal from the second network based on the network session request message; sending a sensing measurement request message to each target terminal, and assigning a transmission strategy and a unique callback pointer to each target terminal; receiving measurement result information sent by each target terminal, determining a sensing result based on each measurement result information, and sending the sensing result to the session node; wherein the measurement result is obtained based on the sensing measurement request message for target sensing; the transmission strategy is used to limit the data transmission mode of each target terminal and the management node; the callback pointer is used to adjust the transmission strategy. Alternatively, receiving a sensing measurement request message sent by a management node of the second network, and obtaining a transmission strategy and a unique callback pointer assigned by the management node; sending measurement result information to the management node; wherein the measurement result is obtained based on the sensing measurement request message for target sensing; the transmission strategy is used to limit the data transmission mode of the terminal and the management node; the callback pointer is used to adjust the transmission strategy. Alternatively, sending a network session request message to a management node of a second network, the network session request message being used to discover at least one target terminal from the second network; receiving a sensing result sent by the management node, the sensing result being obtained based on measurement result information sent by each target terminal; The measurement result is obtained based on a sensing measurement request message.

[0226] In addition, the logical instructions in the memory 1130 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0227] On the other hand, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the sensing method described in any of the above embodiments, for example, including: receiving a network session request message sent by a session node of a first network, discovering at least one target terminal from the second network based on the network session request message; sending a sensing measurement request message to each target terminal, and assigning a transmission strategy and a unique callback pointer to each target terminal; receiving measurement result information sent by each target terminal, determining a sensing result based on each measurement result information, and sending the sensing result to the session node; The measurement result is obtained based on a sensing measurement request message. The transmission strategy is used to limit the data transmission mode of each target terminal and the management node. The callback pointer is used to adjust the transmission strategy. Alternatively, receiving a sensing measurement request message sent by a management node of the second network, and obtaining a transmission strategy and a unique callback pointer assigned by the management node; sending measurement result information to the management node; The measurement result is obtained based on target sensing according to a sensing measurement request message. The transmission strategy is used to define a data transmission mode of the terminal and the management node. The callback pointer is used to adjust the transmission strategy. A network session request message is sent to a management node of a second network, and the network session request message is used to discover at least one target terminal from the second network. The sensing result sent by the management node is received, and the sensing result is obtained based on measurement result information sent by each target terminal. The measurement result is obtained based on target sensing according to a sensing measurement request message.

[0228] The above-described device embodiments are only illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0229] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and necessary general hardware platform, and of course, it can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the method described in each embodiment or some parts of the embodiment.

[0230] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A perception method, comprising: A management node applied to a second network, the method comprising: receiving a network session request message sent by a session node of a first network, discovering at least one target terminal from the second network based on the network session request message; sending a sensing measurement request message to each target terminal, and allocating a transmission strategy and a unique callback pointer to each target terminal; receiving measurement result information sent by each target terminal, determining a sensing result based on each measurement result information, and sending the sensing result to the session node; wherein the measurement result is obtained based on the sensing measurement request message; the transmission strategy is used to limit the data transmission mode of each target terminal and the management node; the callback pointer is used to adjust the transmission strategy.

2. The perception method of claim 1, wherein, The discovery of at least one target terminal from the second network based on the network session request message comprises: determining the number of required terminals based on the session request message; discovering the target terminal in the second network by any of the following ways until the target terminal meets the number: receiving device disclosure information sent by the target terminal in the second network through broadcasting; broadcasting a set building invitation to the target terminal in the second network, and receiving an invitation response message of the target terminal; wherein the device disclosure information is used to identify the target terminal; the invitation response message is generated based on the broadcast set building invitation, and the response message is used to identify the target terminal.

3. The perception method of claim 1, wherein, The sensing measurement request message includes sensing measurement parameters; the sensing measurement parameters include any of the following: channel, bandwidth configuration parameters; waveform parameters; measurement feedback parameters; measurement type information.

4. The perception method of claim 1, wherein, Further comprising: in the case that any one of the measurement result information meets a preset condition, triggering the callback pointer to adjust the transmission strategy; the preset condition includes at least one of the following: the reference signal receiving power (RSRP) in the measurement result information is less than or equal to the RSRP threshold value; the received signal strength indication (RSSI) in the measurement result information is less than or equal to the RSSI threshold value; the reference signal receiving quality (RSRQ) in the measurement result information is less than or equal to the RSRQ threshold value; the signal to interference and noise ratio (SINR) in the measurement result information is less than or equal to the SINR threshold value; the bit error rate in the measurement result information is greater than or equal to the bit error rate threshold value; the transceiving rate in the measurement result information is less than or equal to the transceiving rate threshold value; the angle of arrival (AoA) is greater than or equal to the AoA threshold value; the angle of departure (AoD) is greater than or equal to the AoD threshold value; the time of flight (ToF) is greater than or equal to the ToF threshold value.

5. The perception method of any one of claims 1 to 4, wherein, The adjustment of the transmission strategy comprises at least one of the following: in the case that the data packet loss rate is less than the loss rate threshold value, the retransmission number is adjusted from a first preset number to a second preset number; in a predetermined time window, when the retransmission number reported by the management node or the target terminal reaches the maximum retransmission number, the transmission parameter of the retransmission mechanism is adjusted; in the case that the data packet loss rate is greater than the loss rate threshold value, selective retransmission or forward error correction is adopted.

6. The perception method of claim 2, wherein, The method further comprises the following steps after discovering at least one target terminal from the second network based on the network session request message: sending a request response message to the session node; the network session request message comprises at least one of the following: an operation code; a second layer identifier L2ID of the opposite node; and the number of terminals; the request response message comprises at least one of the following: an operation code; a second layer identifier L2ID of the opposite node; the number of target terminals; and the ID of each target terminal.

7. The perception method of claim 3, wherein, The method further comprises the following steps before sending the awareness measurement request message to each target terminal: receiving an awareness measurement parameter configuration request message sent by the session node, and determining the awareness measurement parameter based on the awareness measurement parameter configuration request message.

8. A perception method comprising: The method applied to a terminal of a second network comprises the following steps: receiving an awareness measurement request message sent by a management node of the second network, and obtaining a transmission strategy and a unique callback pointer allocated by the management node; sending measurement result information to the management node; the measurement result is obtained based on target awareness of the awareness measurement request message; the transmission strategy is used to limit the data transmission mode between the terminal and the management node; the callback pointer is used to adjust the transmission strategy.

9. The perception method of claim 8, wherein, The method further comprises the following any one of the following steps: broadcasting device public information of the terminal to the management node; receiving a broadcasted set formation invitation sent by the management node, and sending an invitation response message to the management node; the device public information is used to identify the terminal; the invitation response message is generated based on the broadcasted set formation invitation, and the response message is used to identify the terminal.

10. The perception method of claim 8, wherein, The awareness measurement request message comprises an awareness measurement parameter; the awareness measurement parameter comprises any one of the following: channel and bandwidth configuration parameters; waveform parameters; measurement feedback parameters; measurement type information.

11. The perception method of claim 8, wherein, In the case that the measurement result information meets a preset condition, the callback pointer adjusts the transmission strategy; the preset condition comprises at least one of the following: a reference signal receiving power RSRP in the measurement result information is less than or equal to an RSRP threshold value; a received signal strength indication RSSI in the measurement result information is less than or equal to an RSSI threshold value; a reference signal receiving quality RSRQ in the measurement result information is less than or equal to an RSRQ threshold value; a signal to interference noise ratio SINR in the measurement result information is less than or equal to an SINR threshold value; an error code rate in the measurement result information is greater than or equal to an error code rate threshold value; a transceiving rate in the measurement result information is less than or equal to a transceiving rate threshold value; an angle of arrival AoA is greater than or equal to an AoA threshold value; an angle of departure AoD is greater than or equal to an AoD threshold value; a time of flight ToF is greater than or equal to a ToF threshold value.

12. The perception method of any one of claims 8 to 11, wherein, The adjustment of the transmission strategy comprises at least one of the following: in the case that a data packet loss rate is less than a loss rate threshold value, adjusting a retransmission number from a first preset number to a second preset number; in a predetermined time window, when a retransmission number reported by the management node or the target terminal reaches a maximum retransmission number, adjusting a transmission parameter of a retransmission mechanism. In case that the packet loss rate is greater than the packet loss rate threshold, selective retransmission or forward error correction is used.

13. A perception method, comprising: The method applied to a session node of a first network comprises: sending a network session request message to a management node of a second network, the network session request message being used to discover at least one target terminal from the second network; receiving a sensing result sent by the management node, the sensing result being obtained based on measurement result information sent by each target terminal; wherein the measurement result is obtained based on target sensing of a sensing measurement request message.

14. The perception method of claim 13, wherein, After the sending of the network session request message to the management node of the second network, the method further comprises: receiving a request response message sent by the management node; the network session request message comprises at least one of the following: an operation code; a second layer identifier L2ID of a peer node; and the number of terminals; the request response message comprises at least one of the following: an operation code; a second layer identifier L2ID of a peer node; the number of target terminals; and an ID of each target terminal.

15. The perception method of claim 14, wherein, Before the receiving of the sensing result sent by the management node, the method further comprises: sending a sensing measurement parameter configuration request message to the management node, the sensing measurement parameter configuration request message being used to determine a sensing measurement parameter.

16. The perception method of claim 15, wherein, The sensing measurement parameter comprises any of the following: a channel and bandwidth configuration parameter; a waveform parameter; a measurement feedback parameter; measurement type information.

17. A perception device, comprising: The apparatus applied to a management node of a second network comprises: a first discovery module configured to receive a network session request message sent by a session node of a first network, and discover at least one target terminal from the second network based on the network session request message; a first allocation module configured to send a sensing measurement request message to each target terminal, and allocate a transmission strategy and a unique callback pointer to each target terminal; a first sensing module configured to receive measurement result information sent by each target terminal, determine a sensing result based on each measurement result information, and send the sensing result to the session node; wherein the measurement result is obtained based on target sensing of a sensing measurement request message; the transmission strategy is used to limit a data transmission mode of each target terminal and the management node; the callback pointer is used to adjust the transmission strategy.

18. A perception device, comprising: The apparatus applied to a target terminal of a second network comprises: a second allocation module configured to receive a sensing measurement request message sent by the management node, and obtain a transmission strategy and a unique callback pointer allocated by the management node; a second sensing module configured to send measurement result information to the management node; wherein the measurement result is obtained based on target sensing of a sensing measurement request message; the transmission strategy is used to limit a data transmission mode of each target terminal and the management node; the callback pointer is used to adjust the transmission strategy.

19. A perception device, comprising: The apparatus applied to a session node of a first network comprises: a third discovery module configured to send a network session request message to a management node of a second network, the network session request message being used to discover at least one target terminal from the second network; A third sensing module receives a sensing result sent by the management node, the sensing result being obtained based on measurement result information sent by each target terminal; The measurement result is obtained based on a sensing measurement request message.

20. An electronic device comprising a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, The processor executes the computer program to implement the sensing method of any one of claims 1 to 8, or to implement the sensing method of any one of claims 8 to 12, or to implement the sensing method of any one of claims 13 to 16. 21.A non-transitory computer-readable storage medium having stored thereon a computer program. The computer program is executed by the processor to implement the sensing method of any one of claims 1 to 8, or to implement the sensing method of any one of claims 8 to 12, or to implement the sensing method of any one of claims 13 to 16.

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