Methods and related devices for switching sensing topologies

Abstract

This application provides a method and related apparatus for switching a sensing topology. The method includes sending a first message to sensing nodes of a first sensing topology and a second message to sensing nodes of a second sensing topology. The first message indicates deactivation, and the second message indicates topology reconfiguration. The first and second messages are associated with at least one condition. The conditions include: the quality of service obtained based on the first sensing topology is less than the minimum quality of service; the signal-to-interference-plus-noise ratio (SIR) of the sensing signal transmitted by the first sensing topology is lower than a preset threshold; and the sensing target is not located in the optimal coverage area of ​​the first sensing topology. If at least one of the above conditions is met, it indicates that the sensing units under the first sensing topology can no longer provide optimal sensing performance for the sensing task. By instructing the sensing units to deactivate via the first message and instructing them to perform topology reconfiguration via the second message, the ISAC system can maintain stable and efficient sensing performance in various application scenarios.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a method and related apparatus for switching sensing topology. Background Technology

[0002] Currently, the sensing topology of integrated sensing and communication (ISAC) systems is typically configured statically or semi-statically. However, real-world sensing scenarios are highly dynamic. For example, the position and orientation of sensed targets (such as vehicles, drones, and pedestrians) are constantly changing, causing them to move between the coverage areas of different base stations. Furthermore, the sensing environment is filled with dynamically changing obstructions (such as moving trucks and containers) and interference sources, which may lead to sensing link interruptions or performance degradation.

[0003] Configuring a single, fixed sensing topology for an ISAC system, whether static or semi-static, makes it difficult for that topology to provide optimal sensing performance in all scenarios or over long periods of time. Summary of the Invention

[0004] This application provides a method and related apparatus for switching sensing topologies, with the aim of enabling the ISAC system to maintain stable and efficient sensing performance in various application scenarios.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] Firstly, this application provides a method for switching a sensing topology. This method can be executed by a sensing control unit, or by a device equipped with a sensing control unit, or by a component in the device (such as a circuit, chip, or chip system), or by a logic module or software capable of implementing all or part of the functions of the sensing control unit. This application does not limit this method.

[0007] A method for switching a sensing topology includes: sending a first message to a sensing node of a first sensing topology and sending a second message to a sensing node of a second sensing topology, wherein the first message is used to indicate deactivation and the second message is used to indicate topology reconfiguration; the first message and the second message are associated with at least one condition being met; the conditions include: the quality of service obtained based on the first sensing topology is less than a minimum quality of service, the signal-to-interference-plus-noise ratio of the sensing signal transmitted by the first sensing topology is lower than a preset threshold, and the sensing target is not in the optimal coverage area of ​​the first sensing topology.

[0008] In the above technical solution, if the quality of service obtained based on the first sensing topology is less than the minimum quality of service, the signal-to-interference-plus-noise ratio of the sensing signal transmitted by the first sensing topology is lower than a preset threshold, and / or the sensing target is not in the optimal coverage area of ​​the first sensing topology, it indicates that the sensing unit under the first sensing topology can no longer provide optimal sensing performance for the currently executed sensing task. Therefore, by instructing the sensing unit under the first sensing topology to deactivate through the first message and instructing the sensing unit under the second sensing topology to perform topology reconfiguration through the second message, the sensing topology can be switched according to the real-time sensing results and network resource status, thereby enabling the ISAC system to maintain stable and efficient sensing performance in various application scenarios.

[0009] In one possible implementation, the second sensing topology is the candidate sensing topology with the highest service quality score.

[0010] In one possible implementation, the difference in service quality scores between the second sensing topology and the first sensing topology is greater than or equal to a threshold.

[0011] In one possible implementation, the quality of service score includes one or more of the following: signal-to-interference-plus-noise ratio (SIR) score of the received signal, geometric factor score, resource cost score, and inherent defect cost score; or, it includes a weighted combination of one or more of the following: SIR score of the received signal, geometric factor score, resource cost score, and inherent defect cost score; wherein:

[0012] The geometric factor score is negatively correlated with the distance between the candidate sensing topology and the sensing target, and / or positively correlated with the bi-station angle provided by the candidate sensing topology;

[0013] Resource cost score indicates that the score of the candidate sensing topology in the single-base station sensing mode is lower than that in the dual-base station sensing mode and the multi-base station sensing mode.

[0014] Inherent defect cost score indicates that the score of candidate sensing topologies in single-base station sensing mode is negatively correlated with the interference cancellation capability level, and / or the score of candidate sensing topologies in dual-base station sensing mode and multi-base station sensing mode is positively correlated with the synchronization error between nodes and the latency jitter of the backhaul link.

[0015] In one possible implementation, the candidate sensing topology is constructed by: determining candidate nodes based on the location of the sensing target; performing at least one of the following operations on the candidate nodes to obtain the candidate sensing topology, the operations including: using the first candidate node among the candidate nodes as the candidate sensing topology for a single-base station sensing mode, the first candidate node having transmit and receive capabilities; constructing a candidate sensing topology for a dual-base station sensing mode by combining two candidate nodes to obtain a candidate sensing topology for a dual-base station sensing mode; and constructing a candidate sensing topology for a multi-base station sensing mode by combining at least three candidate nodes to obtain a candidate sensing topology for a multi-base station sensing mode.

[0016] In one possible implementation, the method for switching the sensing topology further includes sending a third message to the nodes of the second sensing topology, the third message indicating the minimum runtime.

[0017] In one possible implementation, the method for switching the sensing topology further includes receiving a fourth message, which indicates the sensing capability of the sensing node.

[0018] In one possible implementation, the first sensing topology is determined based on the sensing objectives and business requirements.

[0019] In one possible implementation, the first sensing topology is determined based on the sensing target and sensing service requirements, including: determining the candidate sensing nodes included in the area where the sensing target is located; when there is only one candidate sensing node, determining the first sensing topology as a single-base station sensing mode composed of the candidate sensing nodes; when there are more than one candidate sensing node, determining the first sensing topology as a single-base station sensing mode, a dual-base station sensing mode, or a multi-base station sensing mode composed of the candidate sensing nodes based on the sensing service requirements.

[0020] In one possible implementation, the quality of service of the first sensing topology is obtained based on the measurement results of the first sensing topology.

[0021] Secondly, this application provides a communication device including a transceiver module for sending a first message to a sensing node of a first sensing topology and a second message to a sensing node of a second sensing topology. The first message is used to indicate deactivation, and the second message is used to indicate topology reconfiguration. The first message and the second message are associated with at least one condition being met. The conditions include: the quality of service obtained based on the first sensing topology is less than a minimum quality of service; the signal-to-interference-plus-noise ratio of the sensing signal transmitted by the first sensing topology is lower than a preset threshold; and the sensing target is not located in the optimal coverage area of ​​the first sensing topology.

[0022] In one possible implementation, the communication device further includes a processing module for constructing a candidate sensing topology. The processing module constructs the candidate sensing topology by: determining candidate nodes based on the location of the sensing target; performing at least one of the following operations on the candidate nodes to obtain the candidate sensing topology, the operations including: using a first candidate node among the candidate nodes as a candidate sensing topology for a single-base station sensing mode, the first candidate node having transmit and receive capabilities; constructing a candidate sensing topology for a dual-base station sensing mode by combining two candidate nodes to obtain a candidate sensing topology for a dual-base station sensing mode; and constructing a candidate sensing topology for a multi-base station sensing mode by combining at least three candidate nodes to obtain a candidate sensing topology for a multi-base station sensing mode.

[0023] Thirdly, this application provides a communication device including a processor coupled to a memory, which can be used to execute instructions or data in the memory to implement the method in the first aspect above.

[0024] For example, the communication device is called a perception control unit and can be deployed in the core network or edge computing nodes.

[0025] In one possible implementation, the communication device also includes a memory.

[0026] In one possible implementation, the communication device further includes a communication interface, to which the processor is coupled. In one implementation, the communication interface may be a transceiver, or an input / output interface.

[0027] Fourthly, this application provides a processor, including: an input circuit, an output circuit, and a processing circuit. The processing circuit is used to receive signals through the input circuit and transmit signals through the output circuit, causing the processor to execute the method in any of the aspects.

[0028] In specific implementation, the processor can be one or more chips, the input circuit can be input pins, the output circuit can be output pins, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to and transmitted by a transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0029] Fifthly, this application provides a computer program product comprising: a computer program (also referred to as code or instructions) that, when run, causes a computer to perform the methods described in any of the above aspects.

[0030] Sixthly, this application provides a computer-readable storage medium storing a computer program (also referred to as code or instructions) that, when run on a computer, causes the computer to perform the methods described in any of the above aspects.

[0031] In a seventh aspect, this application provides a chip system including one or more processors for calling and executing instructions stored in memory, causing the methods in any of the above aspects or possible implementations to be executed. The chip system may be composed of chips or may include chips and other discrete devices. The chip system may include input circuitry or interfaces for transmitting information or data, and output circuitry or interfaces for receiving information or data.

[0032] Eighthly, this application provides a communication system including the aforementioned sensing control unit. Optionally, it may also include a sensing node and a sensing processing unit; wherein: the sensing node is used to perform a sensing task; and the sensing processing unit is used to acquire first data from the sensing node to obtain measurement results.

[0033] The technical effects of the solutions provided in aspects two through eight can be found in the content of aspect one. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the ISAC system provided in the embodiments of this application;

[0035] Figure 2 A flowchart illustrating the sensing topology switching method provided in an embodiment of this application;

[0036] Figure 3 A schematic diagram illustrating the process of constructing an initial sensing topology for the sensing control unit provided in the embodiments of this application;

[0037] Figure 4 This is a structural example diagram of a communication device disclosed in an embodiment of this application;

[0038] Figure 5 This is a structural example diagram of another communication device disclosed in an embodiment of this application. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The terminology used in the following embodiments is for the purpose of describing specific embodiments only and is not intended to be a limitation of this application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context clearly indicates otherwise. It should also be understood that in the embodiments of this application, "one or more" refers to one, two, or more; "and / or" describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0040] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0041] The "multiple" mentioned in the embodiments of this application refers to two or more. It should be noted that in the description of the embodiments of this application, terms such as "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0042] The technical solutions provided in this application can be applied to communication systems, which may include, but are not limited to, the following systems: second-generation (2G) communication systems, third-generation (3G) communication systems, long-term evolution (LTE) systems, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) communication systems, fifth-generation (5G) systems or new radio (NR) systems, 5.5G systems or sixth-generation (6G) systems and future mobile communication systems, vehicle-to-X (V2X); V2X may include vehicle-to-network (V2N), vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), etc., long-term evolution-vehicle (LTE-V) technology for vehicle-to-everything (V2V), vehicle-to-everything (V2X), machine-type communication (MTC), and the Internet of Things (IoT). Things (IoT), Ambient Internet of Things (AIOT), Long Term Evolution of Machines (LTE-M), Machine to Machine (M2M), etc.

[0043] The scenarios in which communication systems are applicable can include: terrestrial cellular communication, non-terrestrial network (NTN), satellite communication, high altitude platform station (HAPS) communication, vehicle-to-everything (V2X) communication, integrated access and backhaul (IAB) communication, reconfigurable intelligent surface (RIS) communication, integrated sensing and communication (ISAC), etc.

[0044] For example, Figure 1 A schematic diagram of the architecture of a communication system provided in an embodiment of this application is shown.

[0045] like Figure 1 As shown, the communication system is an ISAC system, including: a sensing control unit 100, a sensing processing unit 200, and a sensing unit 300.

[0046] The perception control unit 100 is typically deployed in the core network or on edge computing nodes. It is responsible for collecting network status and perception results, executing dynamic topology switching algorithms, and issuing configuration commands. Edge computing nodes can be extensions of the core network at the edge. For example, when an edge computing node carries and runs user plane function (UPF) network elements of the core network, it assumes the user plane function of the core network and becomes an extension of the core network at the edge.

[0047] The sensing processing unit 200, which can be deployed in the core network, edge computing nodes, radio access network (RAN) devices, or wired access network devices, is responsible for aggregating raw sensing data from one or more sensing units 300, performing signal processing, and reporting the processed measurement results to the sensing control unit 100. Details regarding the radio access network devices are provided below.

[0048] The sensing unit 300 refers to a physical node in the network, possessing the capability to transmit (Tx) and / or receive (Rx) to perform sensing tasks, and is used to perform specific sensing operations on the sensing target according to the instructions of the sensing control unit 100. The sensing unit may also be referred to as a sensing node, sensing device, etc., and this application is not limited to this.

[0049] For example, the sensing unit can be a terminal device. In this application embodiment, the terminal device can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, smart home, etc. Terminals can take various forms, such as mobile phones, tablets, computers with wireless transceiver capabilities, virtual reality terminal devices, augmented reality terminal devices, wireless terminals in industrial control, vehicle-mounted terminal devices, wireless terminals in autonomous driving, wireless terminals in telemedicine, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, wearable terminal devices, and so on. Terminal equipment may also be referred to as terminals, user equipment (UE), access terminal equipment, vehicle-mounted terminals, industrial control terminals, UE units, UE stations, mobile stations, mobile stations, remote stations, remote terminal equipment, mobile devices, UE terminal equipment, wireless communication equipment, UE agents, or UE devices, etc. Terminals can also be fixed terminals or mobile terminals.

[0050] For another example, the sensing unit can also be a radio access network (RAN) device or a wired access network device. The RAN device can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system; it can also be a module or unit that performs some of the functions of a base station, for example, it can be a central unit (CU) or a distributed unit (DU). Here, the CU performs the functions of the base station's radio resource control protocol and packet data convergence protocol (PDCP), and can also perform the functions of the service data adaptation protocol (SDAP); the DU performs the functions of the base station's radio link control layer and medium access control (MAC) layer, and can also perform some or all of the physical layer functions. For specific descriptions of the above-mentioned protocol layers, please refer to the relevant 3GPP technical specifications. Wireless access network equipment can be macro base stations, micro base stations, indoor stations, relay nodes, or donor nodes, etc. The embodiments of this application do not limit the specific technologies or equipment forms used in the wireless access network equipment.

[0051] In some embodiments, the communication system may also include other devices that communicate with the sensing control unit 100, the sensing processing unit 200, and the sensing unit 300, which is not a limitation of this application.

[0052] To facilitate understanding, the concepts involved in this application will be explained below.

[0053] 1. Integrated sensing and communication (ISAC) technology.

[0054] ISAC technology utilizes wireless communication signals to achieve high-precision perception of the environment, such as target detection, localization, tracking, and imaging.

[0055] ISAC deployment scenarios can be categorized into three sensing modes: Mono-static, Bi-static, and Multi-static. Mono-static sensing refers to transceivers located on the same node, such as a base station with built-in radar functionality. Bi-static sensing involves separate transceiver deployments; for example, one base station transmits a signal (or sensing signal), while another base station or terminal receives the reflected signal (or sensing echo), or one terminal transmits a signal, while another terminal or base station receives the transmitted signal. Multi-static sensing includes multiple transceivers, such as one transmitter and multiple receivers, or multiple transmitters and one receiver. Transceivers can be either base stations or terminals. Transmitters can also be called transmitters or transmitting units, and receivers can be called receivers or receiving units.

[0056] In single-base station sensing mode, the ISAC system can achieve ultra-high precision sensing within the coverage area, such as accurate ranging and speed measurement, but the monitoring distance is relatively short and there is also the problem of self-interference. In dual-base station sensing mode, the base station sends uplink sensing and the terminal receives downlink sensing, or the terminal sends uplink sensing and the base station receives uplink sensing. Both have the advantage of wider coverage, but there is also the problem of decreased accuracy due to synchronization error. Similarly, multi-base station sensing mode has the same advantages and disadvantages as dual-base station sensing mode.

[0057] Typically, single-base station sensing mode is often used to track a single target in open areas; however, tracking occluded pedestrians in complex urban canyons requires multi-base station sensing mode to obtain information from different angles.

[0058] Sensing topology refers to the spatial geometric arrangement of the sensing transmitter and the sensing receiver in a sensing mission. Different sensing modes and different spatial relationships between the transmitter and receiver imply the selection of different sensing topologies.

[0059] 2. Signal-to-interference-plus-noise ratio (SINR) is the ratio of the strength of the useful signal to the total power of the interference signal plus the background noise.

[0060] 3. Time of arrival (ToA) is the time delay between the transmitted signal and the received signal.

[0061] 4. Angle of arrival (AoA) is the direction in which an electromagnetic wave or sound wave arrives at an antenna array or sensor array. It can be obtained by using the phase difference between the signals received by the antenna array.

[0062] The above-mentioned concepts are provided only to facilitate understanding of the technical solutions of this application and do not constitute any limitation on this application.

[0063] Currently, the sensing topology of ISAC systems is typically configured statically or semi-statically. However, real-world sensing scenarios are highly dynamic. For example, the position and orientation of sensed targets (such as vehicles, drones, and pedestrians) are constantly changing, causing them to move between the coverage areas of different base stations. Furthermore, the sensing environment is filled with dynamically changing obstructions (such as moving trucks and containers) and interference sources, which may lead to sensing link interruptions or performance degradation.

[0064] Configuring a single, fixed sensing topology for an ISAC system using static or semi-static methods makes it difficult for that topology to provide optimal sensing performance in all scenarios or over long periods. For example, a single-base station mode that performs well when the target is in the center of the coverage area of ​​base station A may experience a sharp drop in sensing performance (such as signal-to-interference-plus-noise ratio and positioning accuracy) when the target moves to the edge of the cell or is temporarily obstructed, thus failing to meet the quality of service (QoS) requirements.

[0065] To address this, this application provides a sensing topology switching method to switch sensing topologies based on real-time sensing results and network resource conditions, thereby ensuring that the ISAC system can maintain stable and efficient sensing performance in various application scenarios over long periods of time.

[0066] Figure 2 An exemplary flowchart of the sensing topology switching method provided in the embodiments of this application is shown.

[0067] In this embodiment, the first sensing topology is constructed using 1 to N sensing units of the ISAC system, and the sensing units under the first sensing topology perform sensing tasks on the sensing target as an example. Here, N is an integer greater than or equal to 1.

[0068] In some embodiments, the sensing control unit may be pre-configured with the requirements of one or more sensing tasks and information on available sensing units in one or more areas to be sensed.

[0069] For example, the requirements of the sensing task are used to indicate the minimum quality of service for the sensing task and the characteristics of the sensing target.

[0070] Minimum Quality of Service, also known as Minimum Acceptable Quality of Service (QoS) minOptionally, the quality of service (QoS) metrics for a sensing task may include one or more of the following: positioning accuracy, velocity accuracy, confidence level, sensing resolution (distance resolution and velocity resolution), false alarm rate, detection latency, maximum sensing service latency, and refresh rate. Correspondingly, the minimum QoS requirement for a sensing task may include the lowest values ​​of one or more of the above metrics. For example, the minimum QoS for a sensing task may include: positioning accuracy < 1m, detection latency < 10ms.

[0071] The characteristics of the perceived target are used to identify the perceived target and can serve as a benchmark for evaluating the performance of the perceived task.

[0072] Characteristics of a sensed target may include, for example, the target's range, velocity, and radar cross-section (RCS). The target's range may be, for example, the distance between the target and a transmitter, or the distance between the target and a receiver.

[0073] Optionally, the requirements for different perception tasks can be configured to be the same or different.

[0074] For example, the maintenance granularity of the area to be sensed can be based on location area, such as cell level or tracking area (TA). In this way, the sensing control unit is configured with available sensing unit information for one or more cells, or with available sensing unit information for one or more tracking areas.

[0075] Optionally, the available sensing unit information within the sensing area includes: all available sensing units within the sensing area and their status information, such as: location coordinates, Tx / Rx capability, antenna configuration, available power, self-interference cancellation (SIC) capability level, and one or more of the current load conditions; it may also include: the synchronization capability level and error (Esync) between sensing units, and the quality (delay, jitter) of the backhaul link.

[0076] Alternatively, the available sensing unit information within the sensing area may further include: combination information between sensing units, which indicates available sensing units within the sensing area capable of forming a dual-base station sensing mode or a multi-base station sensing mode. Optionally, the available sensing units may be indicated in the combination information by the identifier of the sensing unit.

[0077] In some embodiments, the sensing unit may send sensing capabilities to the sensing control unit via a fourth message.

[0078] Correspondingly, the perception control unit can obtain all available perception units and their status information, and / or group number information between perception units within the area to be perceived, based on the perception capabilities of the perception units.

[0079] For example, the fourth message is used to indicate the sensing capability of the sensing unit.

[0080] As another example, sensing capabilities may include: supported Tx / Rx roles, self-interference cancellation capability level, synchronization capability level and error between sensing units, maximum processing bandwidth, etc.

[0081] Optionally, the fourth message may be radio resource control (RRC) signaling or a new control plane message.

[0082] In other embodiments, the perception control unit may also be configured with a signal-to-interference-plus-noise ratio (SINR) threshold value for the perception signal corresponding to the perception task. threshold The signal-to-interference-plus-noise ratio (SIR) threshold can be used to measure whether there will be a sudden drop in signal quality when the sensing unit performs a sensing task.

[0083] In other embodiments, the sensing control unit can also be configured with the optimal coverage area for different sensing topologies. For example, in a single-base station mode, a maximum effective sensing distance Range can be predefined for the sensing topology. max It is used to indicate the optimal coverage area and to measure whether the target being sensed moves to or outside the sensing range of the sensing unit when the sensing unit is performing a sensing task, thus making it impossible to track continuously and accurately.

[0084] like Figure 2 As shown, the sensing topology switching method provided in this application includes:

[0085] S201, The sensing unit under the first sensing topology performs a sensing task for the sensing target.

[0086] For example, the first sensing topology can be a single-base station sensing mode, a dual-base station sensing mode, or a multi-base station sensing mode.

[0087] Different perceptual tasks may have different perceptual objectives:

[0088] For example, in one application scenario, the sensing task is low-altitude economic and security (UAV surveillance), aiming to continuously track "low, slow, and small" drones in complex urban environments. In this case, the sensing target is the drone.

[0089] For example, in another application scenario, the perception task is intelligent transportation (V2X), which aims to locate vehicles and pedestrians on the road in autonomous driving assistance scenarios. In this case, the perception target is the target vehicle.

[0090] For example, in another application scenario, the sensing task is a smart factory (Industrial Internet of Things), which aims to track mobile robots (AGVs) in a workshop filled with metal obstructions. In this case, the sensing target is the mobile robot.

[0091] The sensing unit in the first sensing topology performs a sensing task and obtains the first data. The first data is the raw data acquired by the sensing unit when performing the sensing task. This raw data includes: the signal emitted by the sensing unit, and / or the electromagnetic wave signal captured by the receiving antenna of the sensing unit after the signal emitted by the sensing unit is reflected / scattered by the sensing target. The first data is the "raw material" for subsequent signal processing and sensing information extraction.

[0092] S202, The sensing unit under the first sensing topology sends the first data to the sensing processing unit, and the sensing processing unit receives the first data accordingly.

[0093] In an example of an ISAC system, the first sensing topology is a single-base station sensing mode. The sensing unit under the first sensing topology is a base station with built-in radar function, which is exemplarily referred to as base station A. Base station A can obtain the first data by performing sensing tasks.

[0094] For example, the sensing processing unit can be a base station B that interfaces with one or more sensing units, and base station A can send first data to base station B. It can be understood that base station B can also receive first data obtained by other sensing units performing sensing tasks; that is, base station B can aggregate first data obtained by one or more sensing units performing sensing tasks. Multiple sensing units perform different sensing tasks.

[0095] As another example, the sensing processing unit can be a core network device that interfaces with one or more sensing units, and base station A can send first data to the core network device. Similarly, the core network device can also receive first data obtained by other sensing units when performing sensing tasks; that is, the core network device can aggregate first data obtained by one or more sensing units when performing sensing tasks. Multiple sensing units perform different sensing tasks.

[0096] As another example, the sensing processing unit can also be a base station A. After obtaining the first data, the base station A can directly execute step S203 and send the measurement result to the sensing control unit through step S204.

[0097] In another example of an ISAC system, the first sensing topology is a dual-base station sensing mode. The sensing units under the first sensing topology include transmitters and receivers deployed separately on different devices. Both transmitters and receivers can be base stations or terminals.

[0098] Optionally, the first data may include: a sensing signal emitted by the transmitter, and / or an electromagnetic wave signal received by the receiver after reflection / scattering.

[0099] For example, the sensing processing unit can be a base station or core network device that interfaces with one or more sensing units. In the case where the transmitter and / or receiver is a base station, the base station can also serve as the sensing processing unit.

[0100] In another example of an ISAC system, the first sensing topology is a multi-base station sensing mode. The sensing units under the first sensing topology include one or more transmitters deployed separately on different devices, and one or more receivers. Both transmitters and receivers can be base stations or terminals.

[0101] Optionally, the first data may include: a signal transmitted by the transmitter, and / or an electromagnetic wave signal received by the receiver after reflection / scattering.

[0102] For example, the sensing processing unit can be a base station or core network device that interfaces with one or more sensing units. In the case where the transmitter and / or receiver is a base station, the base station can also serve as the sensing processing unit.

[0103] In some embodiments, the sensing units under the first sensing topology include multiple sensing units, and different sensing units can send first data to the same or different sensing processing units.

[0104] S203, The sensing and processing unit obtains the measurement result based on the first data.

[0105] The sensing processing unit aggregates the first data sent by the sensing nodes under the first sensing topology, performs signal processing on the first data, and obtains the measurement results.

[0106] For example, signal processing includes target detection, parameter estimation, etc.

[0107] For example, the measurement results may include measurements of metrics related to the quality of service of the sensing task. For instance, if the metrics for the quality of service of the sensing task include positioning accuracy, the measurement results may include the positioning accuracy obtained based on the first data.

[0108] As another example, the measurement results may also include the signal-to-interference-plus-noise ratio (SINR) of the sensed signal. current Angle of arrival (AoA), time of arrival (ToA), etc.

[0109] S204. The sensing processing unit sends the measurement results to the sensing control unit. Correspondingly, the sensing control unit receives the measurement results.

[0110] For example, the sensing processing unit can be a core network device or an edge computing node. Optionally, when both the sensing control unit and the sensing processing unit are core network devices, they can also be the same core network device or different core network devices.

[0111] In some embodiments, the sensing processing unit sending measurement results includes: the sensing processing unit periodically sending a sensing measurement report to the sensing control unit, the sensing measurement report including the measurement results received by the sensing processing unit within that period.

[0112] S205. The perception control unit obtains the service quality of the first perception topology based on the measurement results.

[0113] For the sensing tasks performed by the sensing units under the first sensing topology, the sensing control unit can obtain the measurement results sent by one or more sensing control units and summarize them to obtain the service quality of the first sensing topology.

[0114] The description of the measurement results can be found in step S203, and will not be repeated here.

[0115] Optionally, the measurement results include the measurement results of one or more indicators of the quality of service (QoS) of the sensing task. Based on the measurement results of one or more indicators, the sensing control unit can obtain the QoS of the first sensing topology. current .

[0116] S206. The perception control unit determines that the first perception topology satisfies at least one of the following conditions:

[0117] Quality of Service (QoS) of the first sensing topology current Less than the minimum quality of service (QoSmin);

[0118] The signal-to-interference-plus-noise ratio (SINR) of the sensing signal transmitted by the first sensing topology. current SINR below the preset threshold threshold ;

[0119] The target being sensed is not within the optimal coverage area of ​​the first sensing topology.

[0120] For example, for a first sensing topology in a single-base station sensing mode, the optimal coverage area of ​​the first sensing topology is the maximum effective sensing distance Range. max The distance R between the sensing target and the base station is greater than or equal to this Range. max This indicates that the perceived target is not located in the optimal coverage area of ​​the first sensing topology.

[0121] Optionally, the sensing processing unit may obtain the distance R between the sensing target and the base station based on the sensing echo and report it to the sensing control unit.

[0122] Optionally, the arrival time of the sensing signal can be used to obtain the distance R between the sensing target and the base station.

[0123] The perception control unit determines the above three conditions as the reasons for whether to switch to the first perception topology as follows:

[0124] The reduced service quality of the first sensing topology, which makes it unable to meet the minimum service quality requirements of the sensing task, indicates that the performance of the first sensing topology has deteriorated. It is necessary to switch the first sensing topology to find a topology configuration with better performance.

[0125] Changes in the wireless environment, i.e., dynamic changes in the physical environment of the sensing target, such as the appearance of a large vehicle suddenly obstructing the target pedestrian, will cause the original sensing link to be interrupted. This will reduce the signal strength of the sensing signal of the first sensing topology, thereby affecting the performance of the sensing task. Therefore, if the signal-to-interference-plus-noise ratio of the sensing signal of the first sensing topology is lower than the threshold value, the first sensing topology should be switched to a topology that can bypass the obstruction and observe the sensing target from a new angle.

[0126] When a target moves within the network, especially when it crosses a cell boundary and is no longer within the optimal coverage area of ​​the first sensing topology, the system needs to switch sensing topologies to ensure the continuity and accuracy of tracking.

[0127] Correspondingly, when at least one condition is met, the perception control unit can execute steps S207 and S208 respectively. The execution order of steps S207 and S208 is not restricted. Figure 2 exhibit.

[0128] S207. The perception control unit sends a first message to the perception units under the first perception topology. Correspondingly, the perception units under the first perception topology receive the first message.

[0129] The first message is used to indicate deactivation.

[0130] For example, the first message may include one or more bits, the values ​​of which are used to indicate the deactivation of the sensing task performed by the sensing unit, that is, the sensing unit no longer participates in the execution of the sensing task.

[0131] Optionally, the first message may be a radio resource control (RRC) signaling, a media access control (MAC) control element (MAC CE) or a new control plane message.

[0132] S208. The perception control unit sends a second message to the perception units under the second perception topology. Correspondingly, the perception units under the second perception topology receive the second message.

[0133] The second message is used to indicate topology reconfiguration.

[0134] For example, the topology reconfiguration indicated by the second message may include one or more of the following: the role of the sensing unit (Tx / Rx), sensing resources (instantaneous frequency domain resources), waveform parameters of the transmitted sensing signal, and measurement instructions, wherein the measurement instructions may be indicated by the value of one or more bits to instruct the sensing unit to perform a sensing task.

[0135] The second sensing topology includes 1 to M sensing units, where M is an integer greater than or equal to 1. M may also be the same as or different from N.

[0136] Optionally, the second message may be radio resource control (RRC) signaling or a new control plane message.

[0137] In this embodiment, if the quality of service obtained based on the first sensing topology is less than the minimum quality of service, the signal-to-interference-plus-noise ratio of the sensing signal transmitted by the first sensing topology is lower than a preset threshold, and / or the sensing target is not in the optimal coverage area of ​​the first sensing topology, it indicates that the sensing unit under the first sensing topology can no longer provide optimal sensing performance for the currently executed sensing task. Therefore, by instructing the sensing unit under the first sensing topology to deactivate through the first message and instructing the sensing unit under the second sensing topology to perform topology reconfiguration through the second message, the sensing topology can be switched according to the real-time sensing results and network resource status, so as to ensure that the ISAC system can maintain stable and efficient sensing performance in various application scenarios and over long periods of time.

[0138] As can be seen from steps S206 to S208, the first message and the second message sent by the perception control unit are associated with at least one condition in step S206. It can be understood that one way to implement this association is that the perception control unit sends the first message and the second message when at least one condition in step S206 is met.

[0139] When the perception control unit determines in step S206 that the first perception topology satisfies at least one condition, the perception control unit constructs a candidate perception topology for the perception target and screens out the second perception topology from the candidate perception topology.

[0140] For example, the implementation methods of constructing candidate sensing topologies by the sensing control unit include:

[0141] S301. Based on the location of the perceived target, determine the candidate nodes.

[0142] For example, the location of the perceived target includes the predicted location or the actual location of the perceived target.

[0143] Based on the location of the target, the perception control unit determines the area to be perceived, such as the cell or tracking area where the target is located. Then, it can use some or all of the available sensing units in the area to be perceived as candidate nodes and obtain the available sensing unit information of the candidate nodes.

[0144] The description of the available sensing unit information is as described above and will not be repeated here.

[0145] Optionally, the sensing control unit may select nodes with suitable geographical locations and good channel conditions in the area to be sensed as candidate nodes.

[0146] For example, suitable geographical location can mean that the available sensing node is close to the sensing target. Good channel conditions can mean that the sensing signal transmitted by the available sensing node has a high signal-to-interference-plus-noise ratio, a high SIC (Search Injection) capability level, and a low current load, among other things. Of course, these are not limitations.

[0147] S302. Perform at least one of the following operations on the candidate nodes to obtain a candidate sensing topology, the operations including:

[0148] The first candidate node among the candidate nodes is taken as the candidate sensing topology for the single base station sensing mode. The first candidate node has the ability to transmit and receive.

[0149] The candidate sensing topology for the dual-base station sensing mode is constructed by combining two candidate nodes to obtain a candidate sensing topology for the dual-base station sensing mode.

[0150] The candidate sensing topology for a multi-base station sensing mode is constructed by combining at least three candidate nodes to obtain a candidate sensing topology for a multi-base station sensing mode.

[0151] The candidate sensing topology of the single-base station sensing mode can be abbreviated as single-base candidate T(mono,i), which includes a single sensing unit i with transmitting and receiving capabilities.

[0152] For example, the Tx / Rx capability in the status information of an available sensing node can indicate whether the sensing node has transmit / receive capability. After the sensing control unit determines the candidate node, it uses the candidate node whose Tx / Rx capability in its status information indicates that it has transmit / receive capability as the first candidate node. Furthermore, each first candidate node serves as a candidate sensing topology for a single base station sensing mode.

[0153] The candidate sensing topology of the dual-base station sensing mode can be abbreviated as dual-base station candidate T(bi,(i,j)), which includes a transmitting unit i and a receiving unit j.

[0154] For example, the perception control unit filters out the transmitting and receiving units among the candidate nodes based on the Tx / Rx capabilities in the status information of the available perception nodes, and combines any transmitting unit and any receiving unit to form a candidate perception topology for a dual-base station perception mode.

[0155] The candidate sensing topology of the multi-base station sensing mode can be abbreviated as multi-base station candidate T(multi,k), which includes a combination of multiple sensing units, such as 1 Tx and multiple Rx; or multiple Tx and 1 Rx; or multiple Tx and multiple Rx.

[0156] For example, the perception control unit filters out the transmitting and receiving units in the candidate nodes based on the Tx / Rx capabilities in the status information of the available perception nodes, and combines the transmitting and receiving units in one or more of the following combinations: 1 Tx and multiple Rx; multiple Tx and 1 Rx; multiple Tx and multiple Rx. Each combination is a candidate perception topology for a multi-base station perception mode.

[0157] After obtaining candidate sensing topologies for the target, the perception control unit scores each candidate sensing topology to obtain a service quality score. Based on the service quality scores of the candidate sensing topologies, the perception control unit selects a second sensing topology.

[0158] In some embodiments, the second sensing topology is the candidate sensing topology with the highest quality of service score.

[0159] The candidate sensing topology with the highest service quality score is selected as the second sensing topology. The sensing control unit uses the sensing units (i.e., sensing nodes or nodes) in the second sensing topology to replace the sensing units in the first sensing topology to perform sensing tasks. This enables the sensing topology to actively adapt to the movement of the sensing target and changes in the environment.

[0160] In other embodiments, the difference in service quality scores between the second sensing topology and the first sensing topology is greater than or equal to a threshold.

[0161] In other embodiments, the second sensing topology is the candidate sensing topology with the highest service quality score, and the difference in service quality scores between the second sensing topology and the first sensing topology is greater than or equal to a threshold.

[0162] To prevent ping-pong handover, the perception control unit introduces a handover hysteresis threshold H. The first perception topology is switched to the second perception topology only when the service quality score of the optimal candidate perception topology is significantly better than the score of the current topology, as detailed below:

[0163] S best >S current+H

[0164] Among them, S current The service quality score, S, is calculated based on the actual measurement results of the first sensing topology. best It is the service quality score of the optimal candidate sensing topology, that is, the candidate sensing topology with the largest service quality score.

[0165] For example, the quality of service score of the first sensing topology may include one or more of the following: signal-to-interference-plus-noise ratio score of the received signal, geometric factor score, resource cost score, and inherent defect cost score.

[0166] For example, the quality of service score of a candidate sensing topology includes one or more of the following: signal-to-interference-plus-noise ratio score of the received signal, geometric factor score, resource cost score, and inherent defect cost score, ensuring multi-dimensional decision-making.

[0167] As another example, in order to ensure that the result of selecting a second sensing topology from the candidate sensing topology is more intelligent and accurate, the quality of service score of the candidate sensing topology may also include a weighted combination of one or more of the following: the signal-to-interference-plus-noise ratio score of the received signal, the geometric factor score, the resource cost score, and the inherent defect cost score.

[0168] It should be noted that resource cost and inherent defect cost are negative factors in evaluating the quality service score of candidate sensing topologies. When calculating the quality service score of candidate sensing topologies, both the resource cost score and the inherent defect cost score are negative.

[0169] Optionally, the item scores used to calculate the quality of service score of the first sensing topology may be the same as those used to calculate the quality of service score of the candidate sensing topology. The item scores include: the signal-to-interference-plus-noise ratio (SIR) score of the received signal, the geometric factor score, the resource cost score, and the inherent defect cost score.

[0170] The service quality score S of the candidate sensing topology c Including the signal-to-interference-plus-noise ratio score of the received signal. Geometric factor score Resource cost score and inherent defect cost score Taking the weighted combination as an example, the service quality score S of the candidate sensing topology c The calculation formula is shown in Formula 1:

[0171] Formula 1

[0172] Among them, w1, w2, w3, and w4 are weight factors that can be adjusted according to the application scenario.

[0173] The signal-to-interference-plus-noise ratio (SINR) score of the received signal is calculated as follows:

[0174] The sensing and control unit uses radar equations and wireless propagation models to estimate the received signal power P for each candidate sensing topology based on Equation 2. Rx .

[0175] Formula 2

[0176] Among them, P Tx It is the transmission power, G Tx G Rx σ is the transmit / receive antenna gain, λ is the wavelength, σ is the RCS of the sensed target, and R Tx and R Rx These are the distances from the sensing target to the transmitting and receiving units, respectively, and L(⋅) is the additional path loss.

[0177] For a candidate sensing topology in a single-base station sensing mode, the sensing control unit calculates the signal-to-interference-plus-noise ratio (SIR) of the received signal according to Formula 3. For a candidate sensing topology in a dual- or multi-base station sensing mode, the sensing control unit calculates the SIR of the received signal according to Formula 4.

[0178] Formula 3

[0179] Formula 4

[0180] Among them, P noise P is the power of the noise signal. si It is the residual self-interference power.

[0181] In some embodiments, after the sensing control unit obtains the signal-to-interference-plus-noise ratio (SIR) of the received signal of the candidate sensing topology, it can normalize the SIR to obtain an SIR score.

[0182] For example, factors affecting the geometric factor score of a candidate sensing topology include the distance between the candidate sensing topology and the sensing target and the angle provided by the candidate sensing topology. Based on this, the geometric factor score of the candidate sensing topology is negatively correlated with the distance between the candidate sensing topology and the sensing target, and / or positively correlated with the bi-station angle provided by the candidate sensing topology.

[0183] The formula for calculating the geometric factor score is Formula 5:

[0184] Formula 5

[0185] Among them, S dist S is the distance score between the candidate perceptual topology and the perceptual target. angle Angle scores are provided for candidate perceptual topologies.

[0186] Understandably, the distance score is used to penalize candidate sensing topologies that are too far from the target and cause excessive signal attenuation, while the angle score is used to reward candidate sensing topologies that provide richer target information through geometric angles.

[0187] For the candidate sensing topology of the single-base station sensing mode, the sensing control unit calculates the distance score S according to Formula 6. dist For candidate sensing topologies in dual or multi-base station sensing modes, the sensing control unit calculates the distance score Sdist according to Formula 7.

[0188] Formula 6

[0189] Formula 7

[0190] Where Rangemax is the maximum effective sensing distance of the candidate sensing topology; R is the distance between the sensing target and the base station; R Tx and R Rx These are the distances from the sensing target to the transmitting and receiving units, respectively.

[0191] For a candidate sensing topology in a single-base station sensing mode, the angle score obtained by the sensing control unit is the parameter value C. mono This parameter value can be a fixed value and can be adjusted for different application scenarios.

[0192] For the candidate sensing topology of the dual-base station sensing mode, the sensing control unit obtains the angle score based on the dual-base station angle, as follows:

[0193] S angle =sin(β), where β is the bistatic angle, i.e., the interior angle formed by the transmitting unit, the sensing target, and the receiving unit.

[0194] For the candidate sensing topology of the multi-base station sensing mode, the sensing control unit splits the multi-base station into multiple dual-base stations. Therefore, the angle score is the power-weighted average of the angle scores of each dual-base station link, and the angle score of each dual-base station link can also be obtained based on the dual-base station angle.

[0195] In summary, the formulas for calculating the geometric score of candidate sensing topologies under the three sensing modes (single base station, dual base station, and multi base station) are as follows:

[0196] Single base station:

[0197] Dual base stations:

[0198] Multiple base stations:

[0199] For example, resource cost refers to the network resources required to activate a candidate sensing topology, such as spectrum, computing power, backhaul bandwidth, etc.; the resource cost score can be a pre-configured value, which can typically be a normalized value between 0 and 1, and the value is not limited to an integer.

[0200] Resource cost score indicates that the score of the candidate sensing topology in the single-base station sensing mode is lower than that in the dual-base station sensing mode and the multi-base station sensing mode.

[0201] For example, the inherent defect cost score is a quantification of the inherent defects of a candidate perceptual topology; it can typically be a normalized value between 0 and 1, and the value is not limited to integers.

[0202] Inherent defect cost score indicates that the score of candidate sensing topologies in single-base station sensing mode is negatively correlated with the interference cancellation capability level, and / or the score of candidate sensing topologies in dual-base station sensing mode and multi-base station sensing mode is positively correlated with the synchronization error between nodes and the latency jitter of the backhaul link.

[0203] To prevent frequent switching of the sensing topology, the triggering condition for the sensing control unit to switch the first sensing topology to the second sensing topology must be maintained for a preset trigger time (TTT).

[0204] Based on this, in some embodiments, step S206 determines that the duration of the state of the first sensing topology satisfying at least one condition is greater than or equal to TTT before step S207 and step S208 can be executed.

[0205] In other embodiments, the perception control unit may also send a third message to the perception units of the second perception topology, the third message indicating a minimum runtime. Correspondingly, the perception units in the second perception topology run for at least the minimum runtime indicated by the third message.

[0206] The perception control unit may also take the start time of the second perception topology's operation as the start time and the minimum running time indicated by the third message as the end time. During this time period from the start time to the end time, even if the service quality of the second perception topology is less than the minimum service quality, the signal-to-interference-plus-noise ratio of the perception signal transmitted by the second perception topology is lower than a preset threshold, and / or the perception target is not in the optimal coverage area of ​​the second perception topology, the perception control unit will not switch the second perception topology to other perception topologies, including: not sending the first message to the perception units in the second perception topology and not sending the second message to the perception units in other perception toggle arms.

[0207] After the runtime of the second sensing topology reaches the minimum runtime indicated by the third message, the sensing control unit further determines that the service quality of the second sensing topology is less than the minimum service quality, the signal-to-interference-plus-noise ratio of the sensing signal transmitted by the second sensing topology is lower than a preset threshold, and / or the sensing target is not in the optimal coverage area of ​​the second sensing topology, then switches the second sensing topology to another sensing topology.

[0208] The selection method for other sensing topologies is the same as that for the second sensing topology; please refer to the previous text for details, which will not be repeated here.

[0209] In some embodiments, the first perception topology may be an initial perception topology configured by the perception control unit for the perception task; or, the first perception topology may be a topology configured by the perception control unit according to... Figure 2 The method for switching the demonstrated perception topology yields the perception topology that needs to be switched to.

[0210] The following section uses the first sensing topology as the initial sensing topology as an example to explain how the sensing control unit obtains the initial sensing topology.

[0211] It can be understood that the perception control unit determines the first perception topology based on the perception target and business requirements.

[0212] For example, Figure 3 An exemplary schematic diagram illustrates the process by which the perception control unit constructs the initial perception topology.

[0213] like Figure 3 As shown, the method flow for the perception control unit to construct the initial perception topology includes:

[0214] S401. Determine the candidate sensing units included in the area where the sensing target is located.

[0215] For example, the area where the perceived target is located is determined based on the location of the perceived target.

[0216] Optionally, the area where the sensing target is located includes the cell or tracking area where the sensing target is located, and the sensing control unit can determine some or all of the available sensing units included in the area where the sensing target is located as sensing units.

[0217] The description of the available sensing unit information is as described above and will not be repeated here.

[0218] In this embodiment, the perception control unit only selects candidate perception units from the area where the perception target is located, and does not perform a full network search, which can improve efficiency.

[0219] S402, Calculate the number of candidate sensing units.

[0220] The perception control unit calculates the number of candidate perception units included in the area where the perception target is located.

[0221] S403. Determine whether the number of candidate sensing units is only 1.

[0222] If the number of candidate sensing units is determined to be 1, then step S404 is executed; otherwise, step S405 or step S406 is executed according to the sensing task requirements, so as to realize the single-base station sensing mode, dual-base station sensing mode or multi-base station sensing mode in which the first sensing topology is determined as candidate sensing nodes based on the sensing service requirements.

[0223] S404. Determine the first sensing topology as a single base station sensing mode composed of candidate sensing units.

[0224] If there is only one candidate sensing unit, then only the single base station sensing mode can be selected.

[0225] S405. If the sensing task requirements include high precision and low latency, then the first sensing topology is determined to be a single base station sensing mode composed of candidate sensing units.

[0226] S406. If the sensing task requires large coverage, determine the first sensing topology as a dual-base station or multi-base station sensing mode composed of candidate sensing units.

[0227] The following section describes the switching scheme for the sensing topology provided in this application embodiment, using an application scenario as an example.

[0228] Application scenarios:

[0229] The sensing task is to continuously and accurately track a drone in an urban environment; the target is the drone. The minimum quality of service requirement for the sensing task is a positioning accuracy better than 1 meter. There are two base stations with ISAC sensing capabilities in the area, gNB A and gNB B. The sensing control unit and sensing processing unit are deployed on the same edge computing node.

[0230] Step 1: Information Reporting and Initial Topology Selection

[0231] gNB A and gNB B, acting as sensing units, report their location, antenna configuration, Tx / Rx capability, synchronization error (Esync), and other information to the sensing control unit. Based on this information, the network layer predefines resource cost scores for different sensing topology patterns. and inherent defect cost score .

[0232] During initial sensing, the UAV is located in the central coverage area of ​​gNB-8. Due to the UAV's proximity to gNB-8, the single-base station sensing mode offers geometric advantages and low resource costs. Therefore, the sensing control unit decides to adopt the gNB-8's single-base station sensing mode as the initial topology and issues configuration commands.

[0233] Step 2: Monitoring, Triggering, and Switching

[0234] gNB A performs single-station sensing, reporting the raw echo data to the sensing processing unit. The sensing processing unit processes the data, calculates the UAV's real-time position, and outputs the signal-to-interference-plus-noise ratio (SINR). current ) and positioning accuracy (QoS) current The information is reported to the perception control unit.

[0235] As the drone flies towards the cell edge of gNB A and gradually approaches gNB B, if the signal-to-interference-plus-noise ratio (SINR) does not meet the preset threshold or the positioning accuracy does not meet the QoSmin, and this state persists for more than TTT (e.g., 100ms), the perception control unit triggers topology reselection. The perception control unit then initiates an evaluation algorithm to calculate the QoS score of candidate perception topologies (e.g., single-site gNB B, dual-site gNB A transmitting / gNB B receiving, etc.).

[0236] After calculation, the perception control unit finds that the score S(bi,(A,B)) of the optimal candidate perception topology T_(bi,(A,B)) is significantly higher than the score Scurrent of the current topology, and the difference exceeds the preset handover hysteresis threshold H. At this time, the perception control unit makes a handover decision and sends a new configuration command to the relevant nodes through signaling, and the network topology is switched to the new dual-base station perception mode.

[0237] Figure 4 This is a schematic block diagram of a communication device provided in an embodiment of this application.

[0238] like Figure 4 As shown, the communication device 400 may include a communication module 420. The communication module 420 can implement corresponding communication functions, which can be internal communication functions of the communication device 400 or communication functions between the communication device 400 and other devices. Optionally, the communication module 420 may also be referred to as a communication interface, transceiver module, or transceiver unit.

[0239] Optionally, the communication device 400 further includes a processing module 410. The processing module 410 can perform corresponding processing functions, and optionally, the processing module 410 can also be referred to as a processing unit.

[0240] Optionally, the communication device 400 further includes a storage module, which can be used to store instructions and / or data; the processing module 410 can read the instructions and / or data in the storage module so that the communication device 400 can implement the aforementioned method embodiments.

[0241] In one possible design, the communication device 400 may correspond to the sensing control unit in the above method embodiments or a component (such as a circuit, chip, or chip system) configured in the sensing control unit. The communication device 400 can be used to execute the steps or processes performed by the sensing control unit in any of the above method embodiments.

[0242] For example, the communication module 420 is configured to receive a first message sent to a sensing node of a first sensing topology and a second message sent to a sensing node of a second sensing topology, wherein the first message is used to indicate deactivation and the second message is used to indicate topology reconfiguration; the first message and the second message are associated with at least one condition being met.

[0243] The conditions include: the quality of service obtained based on the first sensing topology is less than the minimum quality of service, the signal-to-interference-plus-noise ratio of the sensing signal transmitted by the first sensing topology is lower than a preset threshold, and the sensing target is not in the optimal coverage area of ​​the first sensing topology.

[0244] For example, the second sensing topology is the candidate sensing topology with the highest service quality score.

[0245] For example, the difference in service quality scores between the second sensing topology and the first sensing topology is greater than or equal to a threshold.

[0246] For example, the quality of service score includes one or more of the following: signal-to-interference-plus-noise ratio (SIR) score of the received signal, geometric factor score, resource cost score, and inherent defect cost score; or, a weighted combination of one or more of the following:

[0247] The geometric factor score is negatively correlated with the distance between the candidate sensing topology and the sensing target, and / or positively correlated with the bi-station angle provided by the candidate sensing topology;

[0248] Resource cost score indicates that the score of the candidate sensing topology in the single-base station sensing mode is lower than that in the dual-base station sensing mode and the multi-base station sensing mode.

[0249] Inherent defect cost score indicates that the score of candidate sensing topologies in single-base station sensing mode is negatively correlated with the interference cancellation capability level, and / or the score of candidate sensing topologies in dual-base station sensing mode and multi-base station sensing mode is positively correlated with the synchronization error between nodes and the latency jitter of the backhaul link.

[0250] For example, the processing module 410 constructs the candidate sensing topology by: determining candidate nodes based on the location of the sensing target; and performing at least one of the following operations on the candidate nodes to obtain the candidate sensing topology, the operations including:

[0251] The first candidate node among the candidate nodes is taken as the candidate sensing topology for the single base station sensing mode. The first candidate node has the ability to transmit and receive.

[0252] The candidate sensing topology for the dual-base station sensing mode is constructed by combining two candidate nodes to obtain a candidate sensing topology for the dual-base station sensing mode.

[0253] The candidate sensing topology for a multi-base station sensing mode is constructed by combining at least three candidate nodes to obtain a candidate sensing topology for a multi-base station sensing mode.

[0254] For example, the communication module 420 is also used to send a third message to the nodes of the second sensing topology, the third message being used to indicate the minimum runtime.

[0255] For example, the communication module 420 is also used to receive a fourth message, which indicates the sensing capability of the sensing node.

[0256] For example, the first sensing topology is determined based on sensing objectives and business needs.

[0257] For example, the first sensing topology is determined based on the sensing objectives and sensing business requirements, including:

[0258] Identify candidate sensing nodes within the region where the sensing target is located;

[0259] When there is only one candidate sensing node, the first sensing topology is determined to be a single base station sensing mode composed of candidate sensing nodes.

[0260] When there are more than one candidate sensing node, the first sensing topology is determined based on the sensing service requirements as a single-base station sensing mode, a dual-base station sensing mode, or a multi-base station sensing mode composed of candidate sensing nodes.

[0261] For example, the quality of service of the first sensing topology is obtained based on the measurement results of the first sensing topology.

[0262] For example, the communication module 420 is also used to send a third message indicating the capability of a synchronization transmission recovery point.

[0263] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0264] Figure 5 This is another schematic block diagram of the communication device 500 provided in the embodiments of this application.

[0265] The communication device 500 may be a sensing control unit, a chip, chip system, or processor that implements the above methods. The communication device 500 can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0266] like Figure 5 As shown, the communication device 500 may include one or more processors 510, which may also be referred to as processing units or processing modules, and can implement certain control functions. The processor 510 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the communication device 500 (such as a base station, baseband chip, user, or user chip), execute software programs, and process data from the software programs.

[0267] In an alternative design, the processor 510 may also store instructions and / or data, which can be executed by the processor 510 to cause the communication device 500 to perform the methods described in the above method embodiments.

[0268] In another alternative design, the communication device 500 may include a communication interface 520 for implementing receiving and transmitting functions. For example, the communication interface 520 may be a transceiver circuit, interface, interface circuit, or transceiver. The transceiver circuit, interface, interface circuit, or transceiver for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0269] Optionally, the communication device 500 may include one or more memories 530, which may store instructions that can be executed on the processor 510, causing the communication device 500 to perform the methods described in the above method embodiments. Optionally, the memories 530 may also store data. Optionally, the processor 510 may also store instructions and / or data. The processor 510 and the memories 530 may be provided separately or integrated together.

[0270] It should be understood that, in one possible design, the steps in the method embodiments provided in this application can be implemented by integrated logic circuits in the processor's hardware or by instructions in software form. The steps of the methods disclosed in the embodiments of this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0271] In one implementation, the communication device 500 may correspond to the perception control unit in the above method embodiments, and may be used to execute the various steps and / or processes executed by the perception control unit in the above method embodiments. The processor 510 may be used to execute instructions stored in the memory 530, and when the processor 510 executes the instructions stored in the memory, the processor 510 is used to execute the various steps and / or processes of the above method embodiments corresponding to the perception control unit.

[0272] It is understood that the aforementioned processor can be one or more chips. For example, the processor can be a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0273] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0274] This application also provides a computer-readable storage medium storing instructions that, when executed on one or more computing devices, cause the one or more computing devices to perform the sensing topology switching method described in the above embodiments.

[0275] Computer-readable storage media can be non-transitory computer-readable storage media, such as read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage devices.

[0276] This application also provides a computer program product. When executed by one or more computing devices, the computer program product enables the computing devices to execute any of the aforementioned methods for switching the sensing topology. The computer program product can be a software installation package. When any of the aforementioned methods for switching the sensing topology needs to be used, the computer program product can be downloaded and executed on a computer.

[0277] This application also provides a processor, including: an input circuit, an output circuit, and a processing circuit. The processing circuit receives signals through the input circuit and transmits signals through the output circuit, causing the processor to execute the sensing topology switching method described in the above embodiments.

[0278] In specific implementation, the processor can be one or more chips, the input circuit can be input pins, the output circuit can be output pins, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be output to, for example, but not limited to, a transmitter and transmitted by the transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0279] This application also provides a chip system including one or more processors for calling and executing instructions stored in memory, thereby executing the sensing topology switching method described in the above embodiments. The chip system may be composed of a chip or may include chips and other discrete devices. The chip system may include input circuitry or interfaces for transmitting information or data, and output circuitry or interfaces for receiving information or data.

[0280] In the embodiments of this application, the terms and English abbreviations are exemplary examples given for ease of description and should not be construed as limiting the application in any way. This application does not preclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0281] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0282] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0283] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0284] In summary, the above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for switching sensing topology, characterized in that, include: Send a first message to the sensing nodes of the first sensing topology and a second message to the sensing nodes of the second sensing topology, wherein the first message is used to indicate deactivation and the second message is used to indicate topology reconfiguration. The first message and the second message are associated with at least one condition being met; The conditions include: the quality of service obtained based on the first sensing topology is less than the minimum quality of service, the signal-to-interference-plus-noise ratio of the sensing signal transmitted by the first sensing topology is lower than a preset threshold, and the sensing target is not in the optimal coverage area of ​​the first sensing topology.

2. The method according to claim 1, characterized in that, The second sensing topology is the candidate sensing topology with the highest service quality score.

3. The method according to claim 1 or 2, characterized in that, The difference in service quality scores between the second sensing topology and the first sensing topology is greater than or equal to a threshold.

4. The method according to claim 2, characterized in that, The quality of service score includes one or more of the following: signal-to-interference-plus-noise ratio (SIR) score, geometric factor score, resource cost score, and inherent defect cost score of the received signal; or, a weighted combination of one or more of the following: SIR score, geometric factor score, resource cost score, and inherent defect cost score of the received signal; wherein: The geometric factor score is negatively correlated with the distance between the candidate sensing topology and the sensing target, and / or positively correlated with the bi-station angle provided by the candidate sensing topology; The resource cost score indicates that the score of the candidate sensing topology in the single-base station sensing mode is lower than the score of the candidate sensing topology in the dual-base station sensing mode and the multi-base station sensing mode. The inherent defect cost score indicates that the score of the candidate sensing topology in the single-base station sensing mode is negatively correlated with the interference cancellation capability level, and / or the score of the candidate sensing topology in the dual-base station sensing mode and the multi-base station sensing mode is positively correlated with the synchronization error between nodes and the latency jitter of the backhaul link.

5. The method according to claim 2, characterized in that, The methods for constructing the candidate sensing topology include: Based on the location of the perceived target, candidate nodes are determined; To obtain the candidate sensing topology, at least one of the following operations is performed on the candidate nodes: The first candidate node among the candidate nodes is used as the candidate sensing topology for the single base station sensing mode. The first candidate node has the ability to transmit and receive. The candidate sensing topology for the dual-base station sensing mode is constructed by combining two candidate nodes to obtain a candidate sensing topology for the dual-base station sensing mode. The candidate sensing topology for a multi-base station sensing mode is constructed by combining at least three of the candidate nodes to obtain a candidate sensing topology for a multi-base station sensing mode.

6. The method according to claim 1 or 2, characterized in that, Also includes: A third message is sent to the nodes of the second sensing topology, the third message indicating the minimum runtime.

7. The method according to claim 1 or 2, characterized in that, Also includes: Receive a fourth message, which is used to indicate the sensing capability of the sensing node.

8. The method according to claim 7, characterized in that, The first sensing topology is determined based on the sensing target and business requirements.

9. The method according to claim 8, characterized in that, The first sensing topology is determined based on the sensing targets and sensing service requirements, and includes: Identify the candidate sensing nodes included in the area where the sensing target is located; When there is only one candidate sensing node, the first sensing topology is determined to be a single base station sensing mode composed of the candidate sensing nodes. When there is more than one candidate sensing node, the first sensing topology is determined to be a single-base station sensing mode, a dual-base station sensing mode, or a multi-base station sensing mode composed of the candidate sensing nodes based on the sensing service requirements.

10. The method according to claim 1 or 2, characterized in that, The quality of service of the first sensing topology is obtained based on the measurement results of the first sensing topology.

11. A communication device, characterized in that, The communication device includes a processing module and a transceiver module, and is used to perform the method as described in any one of claims 1 to 10.

12. A communication device, characterized in that, include: Memory, used to store computer instructions; A processor for executing a computer program or computer instructions stored in the memory, causing the communication device to perform the method as described in any one of claims 1 to 10.

13. A communication system, characterized in that, Includes the communication device as described in claim 12.

14. The communication system according to claim 13, characterized in that, Also includes: Sensing nodes and sensing processing units; wherein: The sensing node is used to perform sensing tasks; The sensing processing unit is used to acquire the first data of the sensing node and obtain the measurement result.

15. A computer storage medium, characterized in that, Used to store a computer program, which, when executed, is used to implement the method as described in any one of claims 1 to 10.

16. A computer program product, characterized in that, Includes a computer program that, when run, causes a computer to perform the method as described in any one of claims 1 to 10.

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