Sensing information sending method and device, sensing information receiving method and device, equipment and storage medium

Abstract

The invention discloses a sensing information sending method and device, a sensing information receiving method and device, equipment and a storage medium, and relates to the technical field of communication. The method comprises: a first node sending perception information, the perception information being obtained based on a perception signal satisfying a quality requirement (410). By constraining the quality requirement of the sensing signal, the sensing node sends the sensing information obtained based on the sensing signal meeting the quality requirement, and the sensing signal not meeting the quality requirement can not be processed and fed back. On one hand, the quality requirement of the sensing signal is constrained, so that the accuracy and the effectiveness of the feedback sensing information can be improved; and on the other hand, the sensing signals which do not meet the quality requirement do not need to be processed and fed back, so that the processing complexity and the energy consumption of the sensing nodes can be reduced, the feedback quantity can be reduced, the transmission resources can be saved, and the transmission efficiency of the sensing information can be improved.

Description

Method for sending, method for receiving, device, equipment and storage medium for perceptual information Technical Field

[0001] The embodiments of the present application relate to the field of communication technologies, and in particular to a method for sending, a method for receiving, an apparatus, a device, and a storage medium for perception information. Background Art

[0002] Synaesthesia integration refers to the integration of communication and perception functions, so that future communication systems have both communication and perception functions.

[0003] In a perception system, a perception node (such as a receiving node of a perception signal) can receive a perception signal, obtain perception information based on the perception signal, and feed the perception information back to a node in the perception system responsible for processing the perception information.

[0004] Since the spatial propagation environment of the perception signal is complex and changeable, the quality of the perception signal received by the perception node is often uneven. If the perception information obtained based on the low-quality perception signal is fed back, the accuracy and effectiveness of the feedback perception information cannot be guaranteed.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a method for sending, a method for receiving, an apparatus, a device, and a storage medium for perception information. The technical solution is as follows:

[0007] According to one aspect of an embodiment of the present application, a method for sending perception information is provided, where the method is performed by a first node and includes:

[0008] Sensing information is sent, where the sensing information is obtained based on the sensing signal that meets the quality requirement.

[0009] According to one aspect of an embodiment of the present application, a method for receiving perception information is provided, where the method is performed by a second node and includes:

[0010] Perception information is received, where the perception information is obtained based on a perception signal that meets a quality requirement.

[0011] According to one aspect of an embodiment of the present application, a device for sending perception information is provided, the device including:

[0012] The sending module is used to send perception information, where the perception information is obtained based on a perception signal that meets quality requirements.

[0013] According to one aspect of an embodiment of the present application, a device for receiving perception information is provided, the device including:

[0014] The receiving module is configured to receive perception information, where the perception information is obtained based on a perception signal that meets quality requirements.

[0015] According to one aspect of an embodiment of the present application, a device is provided, comprising a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-mentioned method for sending perception information, or to implement the above-mentioned method for receiving perception information.

[0016] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is used to be executed by a processor to implement the above-mentioned method for sending perception information or the above-mentioned method for receiving perception information.

[0017] According to one aspect of an embodiment of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions. When the chip is running, it is used to implement the above-mentioned method for sending perception information, or implement the above-mentioned method for receiving perception information.

[0018] According to one aspect of an embodiment of the present application, a computer program product is provided, which includes a computer program stored in a computer-readable storage medium, and a processor reads and executes the computer program from the computer-readable storage medium to implement the above-mentioned method for sending perception information, or implement the above-mentioned method for receiving perception information.

[0019] The technical solutions provided in the embodiments of the present application can bring the following beneficial effects:

[0020] By constraining the quality requirements of perception signals, perception nodes transmit perception information based on perception signals that meet the quality requirements, while perception signals that do not meet the quality requirements are not processed or fed back. Constraining the quality requirements of perception signals helps improve the accuracy and effectiveness of the feedback perception information. Furthermore, eliminating the need to process and feed back perception signals that do not meet the quality requirements helps reduce the processing complexity and energy consumption of perception nodes, reduces the amount of feedback, conserves transmission resources, and improves the transmission efficiency of perception information. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG1 is a schematic diagram of a network architecture provided by an embodiment of the present application;

[0022] FIG2 is a schematic diagram of eight sensing modes provided by an embodiment of the present application;

[0023] FIG3 is a schematic diagram of a perception system including multiple perception nodes provided by one embodiment of the present application;

[0024] FIG4 is a flowchart of a method for sending perception information provided by an embodiment of the present application;

[0025] FIG5 is a schematic diagram of the statistical results of the distribution of visibility probability with distance in different scenarios provided by an embodiment of the present application;

[0026] FIG6 is a flowchart of a method for receiving perception information provided by an embodiment of the present application;

[0027] FIG7 is a block diagram of a device for sending perception information provided by an embodiment of the present application;

[0028] FIG8 is a block diagram of a device for receiving perception information provided by an embodiment of the present application;

[0029] FIG9 is a schematic structural diagram of a device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0031] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. A person skilled in the art will appreciate that, with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0032] Please refer to FIG1 , which shows a schematic diagram of a network architecture 100 provided by an embodiment of the present application. The network architecture 100 may include: a terminal device 10 , an access network device 20 , and a core network element 30 .

[0033] The terminal device 10 may refer to a UE (User Equipment), an access terminal, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a wireless communication device, a user agent, or a user apparatus. In some embodiments, the terminal device 10 may also be a cellular phone, a cordless phone, a SIP (Session Initiation Protocol) phone, a WLL (Wireless Local Loop) station, a PDA (Personal Digital Assistant), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal device in a 5GS (5th Generation System) or a terminal device in a future evolved PLMN (Public Land Mobile Network), etc., and the embodiments of the present application are not limited thereto. For ease of description, the above-mentioned devices are collectively referred to as terminal devices. The number of terminal devices 10 is generally multiple, and one or more terminal devices 10 may be distributed in a cell managed by each access network device 20. The terminal device may also be referred to as a terminal or UE for short, and those skilled in the art will understand its meaning.

[0034] Access network equipment 20 is a device deployed in an access network to provide wireless communication capabilities for terminal devices 10. Access network equipment 20 may include various forms of macro base stations, micro base stations, relay stations, access points, and the like. In systems employing different wireless access technologies, the names of devices that provide access network equipment functions may vary. For example, in 5G NR systems, they are referred to as gNodeBs or gNBs. As communication technologies evolve, the term "access network equipment" may change. For ease of description, in the embodiments of this application, the aforementioned devices that provide wireless communication capabilities for terminal devices 10 are collectively referred to as access network equipment. In some embodiments, access network equipment 20 enables communication between terminal devices 10 and core network elements 30. For example, in an LTE (Long Term Evolution) system, access network equipment 20 may be an Evolved Universal Terrestrial Radio Access Network (EUTRAN) or one or more eNodeBs within the EUTRAN. In a 5G NR system, access network equipment 20 may be a Radio Access Network (RAN) or one or more gNBs within the RAN. In the embodiment of the present application, unless otherwise specified, the "network device" refers to the access network device 20, such as a base station.

[0035] The core network element 30 is a network element deployed in the core network. The functions of the core network element 30 are mainly to provide user connection, user management, and service bearer, and to provide an interface to the external network as a bearer network. For example, the core network elements in the 5G NR system may include network elements such as the AMF (Access and Mobility Management Function) entity, the UPF (User Plane Function) entity, and the SMF (Session Management Function) entity.

[0036] In some embodiments, the access network device 20 and the core network element 30 communicate with each other via an air interface technology, such as the NG interface in the 5G NR system. The access network device 20 and the terminal device 10 communicate with each other via an air interface technology, such as the Uu interface.

[0037] The "5G NR system" in the embodiments of the present application may also be referred to as a 5G system or an NR system, but those skilled in the art will understand its meaning. The technical solutions described in the embodiments of the present application may be applicable to LTE systems, 5G NR systems, and subsequent evolution systems of 5G NR systems (e.g., 6G systems (6th Generation Systems, sixth generation mobile communication systems)), as well as other communication systems such as NB-IoT (Narrow Band Internet of Things) systems, and this application does not limit this.

[0038] In an embodiment of the present application, the network device can provide services for a cell, and the terminal device communicates with the network device through the transmission resources (for example, frequency domain resources, or spectrum resources) on the carrier used by the cell. The cell can be a cell corresponding to the network device (for example, a base station). The cell can belong to a macro base station or a base station corresponding to a small cell. The small cells here may include: metro cell, micro cell, pico cell, femto cell, etc. These small cells have the characteristics of small coverage and low transmission power, and are suitable for providing high-speed data transmission services.

[0039] Synaesthesia refers to the integration of communication and perception, enabling future communication systems to simultaneously perform both functions. While transmitting information over wireless channels, systems proactively learn and analyze channel characteristics to perceive the physical characteristics of the surrounding environment, thereby enhancing these two functions. For example, using base station signals to sense the surrounding environment allows communication links to be designed to avoid obstacles and improve communication performance.

[0040] Next-generation networks (such as 6G networks) are expected to be a fusion of mobile communication networks, perception networks, and computing power networks. In a narrow sense, a perception network refers to a system capable of target positioning (ranging, speed, and angle measurement), target imaging, target detection, target tracking, and target recognition. In a broad sense, a perception network refers to a system that understands the attributes and states of all services, networks, users, and terminals, as well as environmental objects. From the perspective of perception applications, perception can be categorized as follows:

[0041] Outdoor, wide-area or local-area applications: including smart cities (e.g., weather monitoring), smart transportation / high-speed rail (e.g., high-precision map construction, road supervision, intrusion detection), and low-altitude applications (e.g., drone monitoring and obstacle avoidance, flight intrusion detection, flight path management).

[0042] Indoor or local applications: including smart home and health management (such as respiratory monitoring, intrusion detection, gesture / posture recognition, motion monitoring, mobile trajectory tracking, etc.), smart factories (such as intrusion detection, material detection, object defect detection, etc.), etc.

[0043] The above is just an example, providing some classifications of perception applications. The application areas of perception are not limited to the above examples.

[0044] Wireless communication and sensing are two key applications of modern radio frequency technology. Sensing uses radio waves to detect parameters of the physical environment to enable environmental perception, such as target location, motion recognition, and imaging. Traditionally, sensing and wireless communication exist independently, and this separate design wastes wireless spectrum and hardware resources. Entering the B5G (Beyond 5G) and 6G eras, the communication spectrum is shifting towards millimeter-wave, terahertz, and visible light communications. The spectrum for wireless communication will overlap with the spectrum for traditional sensing. Integrated communication and sensing technology merges wireless communication and sensing functions, leveraging wireless resources for sensing. It can leverage widely deployed cellular networks to achieve sensing services over larger areas. It can leverage base stations and multiple terminals for joint sensing, achieving higher sensing accuracy. It can also reuse wireless communication hardware modules for sensing, reducing costs. In short, integrated communication and sensing technology empowers future wireless communication systems with sensing capabilities, laying the foundation for the development of smart transportation, smart cities, smart factories, drones, and other services.

[0045] "Perception," as used in the embodiments of this application, refers to the process of directly or indirectly obtaining perceptual information about a target or environment based on at least one perceptual signal, such as sound waves, electromagnetic waves, or light waves (including but not limited to lasers). For example, perceptual information about a target or environment may be obtained by sending and receiving perceptual signals and measuring or otherwise processing the perceptual signals, thereby enabling services such as positioning, ranging, speed measurement, angle measurement, target imaging, target detection, target tracking, and target recognition.

[0046] In addition, the word "perception" mentioned in the embodiments of the present application can also be replaced by any other word that can express perception-related meanings, such as positioning, ranging, speed measurement, angle measurement, target imaging, target detection, target tracking and target recognition.

[0047] The nodes involved in perception are as follows:

[0048] Perception sending node: the sending node of the perception signal.

[0049] Perception receiving node: a receiving node that perceives signals.

[0050] Perception nodes: Perception sending nodes and perception receiving nodes are collectively referred to as perception nodes, that is, nodes that perform perception.

[0051] Perception Management Node: A node that manages and controls perception tasks. The Perception Management Node assigns perception tasks to the Perception Nodes, which then perform perception and provide feedback to the Perception Management Node after performing the perception task.

[0052] Perception trigger node: a node that initiates perception, sets the configuration of the perception scenario, and parses the perception feedback sent by the perception node.

[0053] Regarding perception, it can be divided into 8 modes as shown in Figure 2.

[0054] Mode 1, base station self-transmitting and self-receiving sensing: The base station transmits a sensing signal and receives an echo signal. In Mode 1, the sensing transmitting node and the sensing receiving node are the same base station. That is, the base station transmits a sensing signal to the sensing target. After the sensing signal is reflected by the sensing target, the same base station receives an echo signal (i.e., the sensing signal after being reflected by the sensing target).

[0055] Mode 2, terminal-based self-transmission and self-reception: The terminal sends a sensing signal and receives an echo signal. In Mode 2, the sensing sending node and the sensing receiving node are the same terminal. That is, the terminal sends a sensing signal to the sensing target, which is then reflected by the sensing target and then received by the same terminal as the echo signal.

[0056] Mode 3, base station cooperative sensing: One base station (base station A in the figure) transmits a sensing signal, and another base station (base station B in the figure) receives the echo signal. In Mode 3, the sensing sending node and the sensing receiving node are different base stations. That is, one base station transmits a sensing signal to the sensing target, which is then reflected by the sensing target and then received as an echo signal by the other base station.

[0057] Mode 4, terminal collaborative sensing: One terminal (such as terminal A in the figure) transmits a sensing signal, and another terminal (such as terminal B in the figure) receives the echo signal. In Mode 4, the sensing sending node and the sensing receiving node are different terminals. That is, one terminal transmits a sensing signal to the sensing target, which is then reflected by the sensing target and then received as an echo signal by the other terminal.

[0058] Mode 5, base station-terminal collaborative sensing: The base station transmits a sensing signal, and the terminal receives an echo signal. In Mode 5, the base station is the sensing transmitting node, and the terminal is the sensing receiving node. Specifically, the base station transmits a sensing signal to the sensing target, which is then reflected by the sensing target and then received as an echo signal by the terminal.

[0059] Mode 6, terminal-base station collaborative sensing: The terminal transmits a sensing signal, and the base station receives an echo signal. In Mode 6, the sensing transmitting node is the terminal, and the sensing receiving node is the base station. Specifically, the terminal transmits a sensing signal to the sensing target, which is then reflected by the sensing target and then received as an echo signal by the base station.

[0060] In Mode 7, the sensing target is the sensing signal sending node. In Mode 7, the sensing sending node is the terminal, and the sensing receiving node is the base station. Because the sensing target (terminal) is the sensing sending node, the sensing signal is sent from the sensing sending node (terminal) to the sensing receiving node (base station) without reflection. The base station can directly receive and interpret the sensing result.

[0061] In Mode 8, the sensing target is the sensing signal receiving node. In Mode 8, the sensing sending node is the base station, and the sensing receiving node is the terminal. Since the sensing target (terminal) is the sensing receiving node, after receiving the sensing signal, the terminal needs to feed back the sensing result to the base station so that the base station can obtain the sensing result.

[0062] The sending node and receiving node of the perception signal can be collectively referred to as the perception node. In the above eight perception modes, there is only one or a pair of perception nodes. In wireless communication systems, the number of terminal devices (such as mobile phones, IoT devices, etc.) is large. When there are multiple perception nodes (i.e., base stations, mobile phones, IoT devices, etc. that send and / or receive perception signals) around a perceived object, the joint participation of multiple perception nodes in perception will improve the accuracy of perception and meet more complex perception service requirements, providing richer perception services. As shown in Figure 3, when there are multiple perception nodes in the system (such as perception node 1, perception node 2, and perception node 3 in Figure 3), there may be a perception control node 31 to control and manage the entire perception service to improve efficiency. The perception control node 31 can be a base station, a terminal device, or a core network element.

[0063] Please refer to FIG4 , which shows a flow chart of a method for sending perception information provided by an embodiment of the present application. The method may include the following step 410 .

[0064] Step 410: The first node sends perception information, where the perception information is obtained based on a perception signal that meets quality requirements.

[0065] In some embodiments, the first node is a sensing node in a perception system, which is used to send and / or receive perception signals. In some embodiments, the first node can be an access network device (such as a base station) or a terminal device. In the embodiments of the present application, there is no limitation on which device specifically implements the first node. For example, for the perception system shown in Figure 3, the first node can be a sensing node.

[0066] In some embodiments, the first node obtains perception information based on the perception signal. In some embodiments, the first node receives the perception signal, obtains perception information based on the received perception signal, and then sends the perception information. The "perception information" mentioned in this application may also be referred to as perception results, measurement results, feedback results, perception feedback amount, perception feedback information, or other names, which are not limited in this application. In addition, the "sending perception information" mentioned in this application may also be referred to as feedback perception information, and both express the same meaning.

[0067] In some embodiments, the first node sends perception information to the second node. The second node can be a node in the perception system for collecting and / or processing perception information. In some embodiments, the second node can be any of the following: an access network device (such as a base station), a terminal device, a server, a core network element, a perception information collector, etc. In the embodiments of the present application, there is no limitation on which device specifically implements the second node. For example, for the perception system shown in Figure 3, the second node can be a perception control node.

[0068] The method provided in the embodiments of the present application is applicable to any sensing mode, including but not limited to any of the eight sensing modes shown in Figure 2. For sensing modes with autonomous transmission and reception, such as modes 1 and 2 described above, the sending node and receiving node of the sensing signal can be the same node; for sensing modes with non-autonomous transmission and reception, such as modes 3 to 8 described above, the sending node and receiving node of the sensing signal can be different nodes.

[0069] The perception signals received by the first node may all meet the quality requirements, or some of them may meet the quality requirements while others may not, or none of them may not meet the quality requirements. In an embodiment of the present application, the first node may evaluate whether the perception signals meet the quality requirements, process the perception signals that meet the quality requirements, obtain perception information, and provide subsequent feedback. In other words, for perception signals that do not meet the quality requirements, the first node may not process or provide feedback, thereby reducing the processing complexity and energy consumption of the perception node, and also reducing the amount of feedback, saving transmission resources, and improving the transmission efficiency of the perception information.

[0070] In some embodiments, the quality requirement is determined according to at least one of the following information: reception quality of the perceived signal, reception energy of the perceived signal, and line-of-sight probability of the perceived signal.

[0071] For example, the quality requirement may be a requirement for the reception quality of the sensory signal. For example, the quality requirement may be a requirement for the received energy of the sensory signal. For example, the quality requirement may be a requirement for the line-of-sight probability of the sensory signal. For example, the quality requirement may also be a requirement for both the reception quality and received energy of the sensory signal. For example, the quality requirement may also be a requirement for both the reception quality and line-of-sight probability of the sensory signal. For example, the quality requirement may also be a requirement for both the received energy and received energy of the sensory signal. For example, the quality requirement may also be a requirement for the reception quality, received energy, and line-of-sight probability of the sensory signal. Of course, this application includes, but is not limited to, the aforementioned information regarding the sensory signal and may also include other information.

[0072] In some embodiments, a corresponding value range or threshold condition can be specified for at least one of the aforementioned information to define the requirements for that information. For example, a requirement for reception quality can be that the reception quality falls within a certain value range, or that the reception quality is greater than or equal to a certain threshold. For example, a requirement for received energy can be that the received energy falls within a certain value range, or that the received energy is greater than or equal to a certain threshold. For example, a requirement for line-of-sight probability can be that the line-of-sight probability falls within a certain value range, or that the line-of-sight probability is greater than or equal to a certain threshold.

[0073] In some embodiments, the reception quality includes at least one of the following: SNR (Signal to Noise Ratio), SINR (Signal to Interference plus Noise Ratio), RSRQ (Reference Signal Receiving Quality), PAPR (Peak to Average Power Ratio), and CM (Cubic Metric).

[0074] For example, wireless sensing accuracy in a sensing system refers to the degree of closeness between the measured target distance, velocity, and angle and their true values, typically described by root mean square error (RMS). This accuracy depends on both the wireless sensing waveform and antenna parameters and the signal-to-noise ratio (SNR) of the echo signal. The sensing control node (e.g., the second node) configures the corresponding received signal quality threshold to meet the sensing service's requirements for sensing information accuracy. For example, the aforementioned quality requirement includes an SNR > 3dB. Possible corresponding relationships are shown below.

[0075] The distance measurement accuracy can be expressed as:

[0076] The speed measurement accuracy can be expressed as:

[0077] The angle measurement accuracy can be expressed as:

[0078] Where E is the energy of the signal, N0 is the noise power per unit bandwidth, c is the speed of light, SNR = E / N0, τ = MT r is the signal duration (uncompressed pulse width), ΔR is the distance resolution, B is the bandwidth, λ is the wavelength, Δf d is the velocity resolution, θ 3dB is the angular resolution.

[0079] In some embodiments, the received energy includes at least one of the following: signal energy, RSRP (Reference Signal Receiving Power), and RSSI (Received Signal Strength Indicator).

[0080] For example, given the complex and severe interference of long-distance spatial propagation, RSRP and distance generally conform to the propagation path loss formula within a certain range. The perception control node (e.g., the second node) is configured with quality requirements, including a threshold corresponding to RSRP. A received signal that meets this threshold accurately reflects the distance between the transmitted and received signals, allowing for further positioning calculations based on this data.

[0081] In addition, the LoS (Line of Sight) probability refers to the probability that a LoS path (i.e., a direct path) exists in a spatial environment, that is, the probability that the echo signal of the sensed signal is a direct path.

[0082] For example, during indoor positioning, complex building structures can obstruct direct-path transmission. Signal reflection, diffraction, and scattering increase arrival time and change the angle of arrival, leading to significant positioning errors. The perception control node (such as the second node) can configure the quality requirements for line-of-sight probability based on the positioning accuracy requirements of the perception service.

[0083] As shown in Figure 5, for the Indoor-Open Office scenario, the LoS probability within a distance of 10m is 90%. When the LoS probability is greater than 90%, the positioning accuracy requirement of the perception service can be met. The perception control node will configure the LoS probability quality requirement accordingly.

[0084] In some embodiments, the quality requirements include requirements for one or more quality indicators. These quality indicators can be different indicators within the broad categories of reception quality, reception energy, and line-of-sight probability described above. They can also be different indicators within the subcategories of SNR, SINR, RSRQ, PAPR, CM, signal energy, RSRP, RSSI, and line-of-sight probability described above.

[0085] In some embodiments, the requirement for any quality indicator can be expressed by one or more value ranges. The value range can be a value range between two threshold values, such as greater than a first threshold value and less than a second threshold value. The value range can also be greater than or less than a certain threshold value, or the value range can also be a set of one or more values. For example, for the energy of the perception signal, the energy requirement can be in the value range of [A, B], or greater than or equal to C, or in the value set of {X, Y}. The above A, B, C, X, and Y all represent energy values.

[0086] In some embodiments, when quality requirements include requirements for multiple quality indicators, each quality indicator requirement is independently constrained. That is, the setting of a quality indicator requirement is not affected by the setting of requirements for other quality indicators. For example, the setting of reception quality requirements is independent of the setting of requirements for other quality indicators such as reception energy and line-of-sight probability, and each is set independently. For another example, the setting of RSRQ requirements is independent of the setting of requirements for other quality indicators such as signal energy and line-of-sight probability, and each is set independently.

[0087] In some embodiments, when the quality requirements include requirements for multiple quality indicators, there is a joint constraint on the requirements of at least two quality indicators. That is, the setting of the requirement for a certain quality indicator will be affected by the setting of the requirement for at least one other quality indicator. For example, the requirements for signal energy and SINR are jointly constrained. The above joint constraint relationship can be specified by the protocol without the need for a configuration process; or it can be obtained by configuration, for example, by configuring the joint constraint relationship between energy and SINR by configuring the parameter AssosicatedPowerAndSINR bool(0,1).

[0088] In some cases, when two or more quality indicators meet the corresponding requirements, the accuracy of the perception information can be further guaranteed. For example, when positioning is performed using received signal energy, the presence of non-line-of-sight (NLoS) links will affect the propagation path loss of the perception signal. If it is not accurately modeled, the gap between the measured value and the true value will be large. In this case, the received signal energy and LoS probability can be jointly constrained to further improve the accuracy of the feedback perception information. In the configuration information, AssosicatedRSRPAndLoS bool(0,1) can be configured, and specific thresholds can be further given. For example, in the above scenario, only the received signal energy and LoS probability are constrained. However, if the SINR is very low, it is still difficult to distinguish useful signals and it is impossible to obtain accurate perception information. Therefore, it is necessary to jointly constrain the above three quality indicators.

[0089] In some embodiments, the quality requirements and / or the above-mentioned joint constraint relationships are configured separately for different objects. That is, the quality requirements and / or the above-mentioned joint constraint relationships can be configured separately for different objects. The above-mentioned objects include any one or more combinations of the following: sensing services, sensing tasks, sensing targets, and sensing nodes. For example, the quality requirements and / or the above-mentioned joint constraint relationships are configured separately for different sensing services. For example, the quality requirements and / or the above-mentioned joint constraint relationships are configured separately for different sensing targets. For another example, the above-mentioned objects can be a combination of sensing services and sensing targets, illustratively including the following four combinations: (1) sensing service 1 + sensing target 1, (2) sensing service 1 + sensing target 2, (3) sensing service 2 + sensing target 1, (4) sensing service 2 + sensing target 2, and the quality requirements and / or the above-mentioned joint constraint relationships are configured separately for the above four different combinations. Taking the quality requirements as an example, a corresponding quality requirement can be configured for each of the above four different combinations. For example, the quality requirements configured for combination (1) and the quality requirements configured for combination (2) can be the same or different. The above method helps to improve the flexibility of configuring quality requirements and / or joint constraint relationships.

[0090] In some embodiments, the first node receives a perception signal and processes the perception signal that meets quality requirements to obtain perception information. The first node then transmits the obtained perception information. In some embodiments, for a self-transmitting and self-receiving perception scenario, the first node may also transmit a perception signal, and the perception signal received by the first node is the echo signal of the perception signal it transmitted. In some embodiments, for a non-self-transmitting and self-receiving perception scenario, the first node may not transmit a perception signal, and the perception signal received by the first node may be the echo signal of a perception signal transmitted by another transmitting node.

[0091] In some embodiments, the first node does not process or feedback perception signals that do not meet the quality requirements. For example, for perception signals that do not meet the quality requirements, the first node does not need to process these perception signals to obtain corresponding perception information, and accordingly, does not need to generate or feedback the perception information corresponding to these perception signals.

[0092] In some embodiments, if no perception signal meeting the quality requirement exists, the perception information includes an invalid value, or the perception information is not transmitted. For example, when a first node fails to detect a perception signal meeting the quality requirement, the first node may transmit perception information including an invalid value to inform the receiving party that no perception signal meeting the quality requirement has been detected. Alternatively, the first node may not transmit the perception information, thereby saving transmission resources. In some embodiments, the invalid value may be specified by the protocol, for example, an invalid value of 0000.

[0093] In some embodiments, the perception information includes: a measured value of a perception signal, a quantized result of the measured value of the perception signal, or an index of the interval in which the measured value of the perception signal lies. The first node may measure the perception signal to obtain the perception information. Therefore, the perception information may include the measured value of the perception signal, i.e., the direct result of measuring the perception signal, as well as the quantized result of the measured value or the index of the interval in which the measured value lies, thereby further reducing the number of bits required for the perception information and conserving the transmission resources required for perception information feedback. For example, taking the example of the first node measuring the distance to the perceived target based on the perception signal, the direct result of the measurement is the distance value itself, e.g., 5 meters. In some embodiments, the measured value may also be quantized. For example, if the quantization coefficient is 10, then [0, 10m] can be represented by a quantization result such as 0, (10, 20m] can be represented by a quantization result such as 1, (20, 30m] can be represented by a quantization result such as 2, and so on. When the measured distance value is 5m, its corresponding quantization result is 0, and the perception information may include the quantization result "0" of the measured value. In some embodiments, multiple interval indexes may also be set for the measured value. For example, the interval index corresponding to [0, 10m] is 0, the interval index corresponding to (10, 20m] is 1, the interval index corresponding to (20, 30m] is 2, and so on. When the measured distance value is 5m, it belongs to the interval [0, 10m], and the corresponding interval index is 0. The perception information may include the interval index "0" of the measured value.

[0094] In some embodiments, the perception signal includes at least one of sound waves, electromagnetic waves, and light waves, and the perception information includes information about the target or environment obtained directly or indirectly based on the perception signal. The light wave may be a laser or other form of light wave, which is not limited in this application. The target refers to a perception target, such as a pedestrian, vehicle, obstacle, etc., which may be determined based on the actual perception scenario and is not limited in this application. The environment refers to the environment in which the perception node is located, such as a geographical location, a building, an office, etc., which is not limited in this application. When the perception information includes information about the target, it may include at least one item of information such as the target's location, speed, or distance, which may be determined based on actual perception needs and is not limited in this application. When the perception information includes information about the environment, it may include at least one item of information such as whether there are obstacles in the environment, whether there is a detection target in the environment, and the location, speed, or distance of the detection target in the environment, which may also be determined based on actual perception needs and is not limited in this application. Directly obtaining perception information based on the perception signal refers to measuring the perception signal and directly using the measured value as the perception information. The aforementioned indirect acquisition of perception information based on the perception signal refers to measuring the perception signal and further acquiring the perception information based on the measured value. For example, the perception signal is subjected to time delay measurement and the distance is further acquired as the perception information based on the measured time delay.

[0095] The technical solution provided in the embodiments of this application constrains the quality requirements of perception signals. A perception node transmits perception information based on perception signals that meet the quality requirements, while perception signals that do not meet the quality requirements are not processed or fed back. Constraining the quality requirements of perception signals helps improve the accuracy and effectiveness of the feedback perception information. Furthermore, eliminating the need to process and feed back perception signals that do not meet the quality requirements helps reduce the processing complexity and energy consumption of the perception node, reduces the amount of feedback, conserves transmission resources, and improves the transmission efficiency of perception information.

[0096] In some embodiments, the above-mentioned quality requirements may be specified by the protocol without the need for a configuration process. The “protocol” mentioned in this application may refer to a standard protocol in the field of communications, such as the LTE protocol, the NR protocol, and related protocols used in future communication systems, which are not limited in this application. The “protocol provisions” mentioned in this application refer to provisions in the standard protocols in the above-mentioned communication fields.

[0097] In some embodiments, the quality requirements are configured. In this case, the first node receives configuration information for configuring the quality requirements. In some embodiments, the configuration information may include the quality requirements, such as the required value ranges for one or more quality indicators. In some embodiments, the configuration information may also include any other information capable of determining the quality requirements, such as index values ​​for the required value ranges for one or more quality indicators.

[0098] In some embodiments, the configuration information is configured by a second node that receives the perception information. In some embodiments, the second node sends the configuration information, the first node receives the configuration information, and determines the quality requirement based on the configuration information. The first node sends perception information obtained based on the perception signal that meets the quality requirement to the second node, and the second node receives the perception information.

[0099] In some embodiments, the above-mentioned configuration information may not be configured by the second node that receives the perception information, for example, it may be configured by a third node in the perception system. The third node is different from the first node and the second node. In some embodiments, the third node sends configuration information, the first node receives the configuration information, and determines the quality requirements based on the configuration information. The first node sends perception information obtained based on the perception signal that meets the quality requirements to the second node, and the second node receives the perception information. In some embodiments, the third node can be any one of the following: an access network device (such as a base station), a terminal device, a server, a core network element, etc. In the embodiments of the present application, there is no limitation on which device specifically implements the third node.

[0100] In some embodiments, the configuration information is used to configure constraints on the perception information. In some embodiments, the constraints include at least one of: the perception information is within a valid interval, and the perception information is obtained based on a perception signal that meets quality requirements. For a description of the valid interval, see the following embodiments.

[0101] In some embodiments, constraints are configured separately for different objects. That is, constraints can be configured independently for different objects. The above objects include any one or more of the following: sensing services, sensing tasks, sensing targets, and sensing nodes.

[0102] In some embodiments, the configuration information is sent via unicast, multicast, or broadcast. In some embodiments, the second node sends the configuration information. In some embodiments, the second node can send the configuration information via unicast, multicast, or broadcast. For example, when the second node is a perception control node in the perception system shown in FIG3 , the second node can send the configuration information to multiple perception nodes via multicast or broadcast.

[0103] In some embodiments, when the first node does not receive the configuration information, or the configuration information does not configure the above-mentioned quality requirements, the first node does not send the perception information, or does not consider the constraints of the above-mentioned quality requirements when sending the perception information. In particular, when the first node does not receive the configuration information, or the configuration information does not configure the above-mentioned quality requirements, whether the first node does not send the perception information, or does not consider the constraints of the above-mentioned quality requirements when sending the perception information, may be specified by the protocol. When the first node does not receive the configuration information, or the configuration information does not configure the above-mentioned quality requirements, if the first node does not send the perception information, the processing flow of the first node can be simplified, avoiding the first node from performing unnecessary perception processes and feedback processes. When the first node does not receive the configuration information, or the configuration information does not configure the above-mentioned quality requirements, if the first node does not consider the constraints of the above-mentioned quality requirements when sending the perception information, the first node can feedback the full amount of perception information it obtains.

[0104] In some embodiments, there may be one or more perception nodes (e.g., the first node) feeding back perception information to the same perception control node (e.g., the second node). These one or more perception nodes uniformly feed back configuration information sent by the perception control node via multicast or broadcast. In some cases, the perception control node may also function as a perception node to send or receive perception signals. In this case, the perception information is collected using the same configuration information as the perception nodes it manages.

[0105] In some embodiments, during the sensing process, a sensing node (e.g., a first node) performs data preprocessing on received sensing signals to obtain sensing information. This step requires that, after receiving the sensing signals, the sensing node evaluates the sensing signals based on the quality requirements for the sensing signals in the configuration information. Prioritization is based on the quality requirements. For example, the higher the received signal energy, the higher the priority for selection and processing. The first N sensing signals that meet the received signal energy threshold may be subsequently processed to obtain the sensing information carried by the signals, while the remaining received sensing signals are not subsequently processed. When the quality requirements configured in the configuration information include two or more signal quality evaluation metrics, the sensing control node (e.g., a second node) is required to configure metric priorities for the sensing service and sensing target. Specifically, the priority of the sensing signals and feedback quantities is determined based on both the metric priorities and the numerical priorities within the metrics. For example, in the aforementioned positioning based on received signal quality and LoS probability, only under a certain LoS probability can the received signal quality and the distance between the signal transmission point and the receiving point meet the model defined in the communication system. Therefore, the received signals must first meet the LoS probability before the received signal quality is ranked. The sensing control node must be configured accordingly to this requirement.

[0106] By stipulating or configuring quality requirements through protocols, perception nodes can consider the constraints of the quality requirements when acquiring and feeding back perception information. This not only helps to improve the accuracy and effectiveness of the feedback perception information, but also helps to reduce the processing complexity and energy consumption of the perception nodes. It can also reduce the feedback volume, save transmission resources, and improve the transmission efficiency of perception information.

[0107] In some embodiments, in addition to quality requirement constraints on the perception information, other restriction conditions may also be imposed on the perception information.

[0108] In some embodiments, the perception information is within a valid interval.

[0109] In some embodiments, the perception information satisfies the following constraints: the perception information is within a valid interval, and the perception information is obtained based on a perception signal that meets quality requirements.

[0110] As described above, the first node can measure the perception signal to obtain perception information. When feeding back the perception information, the first node can not only constrain the perception signal quality but also constrain the validity period of the perception information. The first node only needs to feed back perception information within the valid period. In other words, the first node does not need to feed back perception information outside the valid period.

[0111] In some embodiments, the perception information sent by the first node includes: the numerical value of the perception information, and / or the statistical result of the numerical value of the perception information. The numerical value of the perception information refers to the value of the perception information obtained by actual measurement. The statistical result of the numerical value of the perception information can be the result obtained by further statistical analysis of the value of the perception information obtained by actual measurement. Taking the example that the numerical value of the perception information includes distance, the statistical result of the numerical value of the perception information can be the distribution of distance, such as the distribution of distance in several intervals. The statistical result of the numerical value of the perception information can also be the proportion of the number of distances within the valid range to the total number of measured distances, and so on. This application does not limit the specific form of the statistical results.

[0112] In some embodiments, the constraint condition includes that the perception information is obtained based on a perception signal that meets the quality requirement. The first node only feeds back the perception information obtained based on the perception signal that meets the quality requirement, and does not process or feed back the perception signal that does not meet the quality requirement.

[0113] In some embodiments, the constraint condition includes that the sensing information is within a valid interval. The first node only feeds back sensing information within the valid interval, and does not need to feed back sensing information that is not within the valid interval.

[0114] In some embodiments, the constraints include: the perception information being within a valid interval, and being obtained based on a perception signal that meets quality requirements. The first node only feeds back perception information that is obtained based on a perception signal that meets quality requirements and is within the valid interval. Perception signals that do not meet quality requirements may not be processed or fed back. Perception information that is obtained from a perception signal that meets quality requirements but is not within the valid interval also does not need to be fed back.

[0115] In some embodiments, the valid interval may be a range of values ​​or a set of one or more values.

[0116] In some embodiments, the valid interval includes the valid range of at least one parameter related to the sensing information. In some embodiments, the at least one parameter includes at least one of the following: distance, delay, strength, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period. Distance may refer to the distance between the first node and the sensing target. Delay may refer to the delay between transmitting and receiving the sensing signal, i.e., the difference between the time the sensing signal is transmitted and the time it is received. It may also be referred to as the arrival delay of the sensing signal (or the time difference of arrival of the sensing signal). Time may refer to the time difference of arrival of the sensing signal described above, or the relative time difference or round-trip time of the sensing signal. In other words, it may refer to the difference between the time the sensing signal is transmitted and the time it is received. Strength may refer to the strength of the sensing signal, such as the strength of the sensing signal received by the first node. The strength of the sensing signal may be represented by at least one of reception quality, reception energy, and line-of-sight probability. Amplitude may refer to the amplitude of the sensing signal, such as the amplitude of the sensing signal received by the first node. Angle may refer to the angle of arrival of the sensing signal, such as the angle of arrival of the sensing signal received by the first node. The orientation may refer to the orientation of the perception signal, and the orientation may be represented by the angle of arrival of the perception signal as described above, or may be represented by a plurality of orientations specified in advance (such as east, south, west, north, etc.). The speed may refer to the speed of the perception target, or the relative speed between the first node and the perception target. The frequency shift may refer to the frequency shift of the perception signal, such as the frequency shift between the perception signal received by the first node and the perception signal sent. The phase may refer to the phase of the perception signal, such as the phase of the perception signal received by the first node. The frequency may refer to the frequency of the perception signal, such as the frequency of the perception signal received by the first node. The period may refer to the period of the perception signal, such as the period of the perception signal received by the first node. Of course, the parameters listed here are only exemplary, and the present application does not limit other parameters.

[0117] In some embodiments, the first node can obtain one or more pieces of perception information based on the received perception signal. When the valid interval only includes the valid range of one of the above parameters, for each piece of perception information, the first node evaluates whether the above parameter corresponding to the perception information is within the valid range. If the above parameter corresponding to the perception information is within the valid range, the perception information is fed back. If the above parameter corresponding to the perception information is not within the valid range, the perception information is not fed back. After the above process, the first node can determine which one or more pieces of perception information need to be fed back and which one or more pieces of perception information do not need to be fed back from the one or more pieces of perception information obtained. If there is at least one piece of perception information that needs to be fed back, the first node sends the at least one piece of perception information that needs to be fed back.

[0118] For example, when the valid interval only includes the valid range of distance, assuming the valid range is [20m, 200m], the first node obtains the following two pieces of perception information based on the received perception signal: the first piece of perception information includes that the distance to the perceived target is 5m, and the second piece of perception information includes that the distance to the perceived target is 50m. Because the distance 5m corresponding to the first piece of perception information is not within the valid range [20m, 200m], while the distance 50m corresponding to the second piece of perception information is within the valid range [20m, 200m], the perception information sent by the first node includes the second piece of perception information, and the first piece of perception information does not need to be fed back.

[0119] In some embodiments, the first node can obtain one or more pieces of perception information based on the received perception signal. When the valid interval includes the valid range of the above-mentioned at least two parameters, for each piece of perception information, the first node evaluates whether the above-mentioned at least two parameters corresponding to the perception information are respectively within the valid range. If the above-mentioned at least two parameters corresponding to the perception information are both within the valid range, the perception information is fed back. If at least one of the above-mentioned at least two parameters corresponding to the perception information is not within the corresponding valid range, the perception information is not fed back. After the above process, the first node can determine which one or more pieces of perception information need to be fed back and which one or more pieces of perception information do not need to be fed back from the one or more pieces of perception information obtained. If there is at least one piece of perception information that needs to be fed back, the first node sends the at least one piece of perception information that needs to be fed back.

[0120] For example, when the valid interval includes a valid range for distance and a valid range for speed, assuming the valid range for distance is [20m, 200m] and the valid range for speed is [5km / h, 7km / h], the first node obtains the following three pieces of perception information based on the received sensing signal: the first piece of perception information includes that the distance to the perceived target is 5m and the speed is 0km / h; the second piece of perception information includes that the distance to the perceived target is 50m and the speed is 5km / h; and the third piece of perception information includes that the distance to the perceived target is 50m and the speed is 10km / h. Since the distance 5m corresponding to the first piece of perception information is not within the valid range [20m, 200m] and the speed 0km / h is not within the valid range [5km / h, 7km / h], feedback for the first piece of perception information is not required. Since the distance 50m corresponding to the second piece of perception information is within the valid range [20m, 200m] and the speed 5km / h is within the valid range [5km / h, 7km / h], feedback for the second piece of perception information is required. Since the distance 50m corresponding to the third perception information is within the valid range [20m, 200m], but the speed 10km / h is not within the valid range [5km / h, 7km / h], this third perception information does not need to be fed back. The perception information sent by the first node includes the second perception information, while the first and third perception information do not need to be fed back.

[0121] In some embodiments, for any of the above parameters, the valid range of the parameter includes one or more value ranges. The value range can be a value range between two threshold values, such as greater than a first threshold value and less than a second threshold value. The value range can also be greater than or less than a certain threshold value, or the value range can also be a set of one or more values. For example, for distance, the valid range of distance can be the value range of [20m, 200m], the value range of less than or equal to 200m, or the value set of {100m, 200m}.

[0122] Through the above method, in addition to constraining the quality requirements of the perception signal, the effective interval of the perception information can also be constrained, thereby further reducing the feedback amount.

[0123] In some embodiments, when the number of perception signals satisfying the first condition is greater than an upper limit value N, the perception information is obtained based on N perception signals satisfying the first condition selected according to a priority principle, where N is a positive integer.

[0124] In some embodiments, when the number of perception signals that meet the first condition is less than or equal to the upper limit value N, the first node will normally feedback the perception information obtained based on the perception signals that meet the first condition. For the perception information corresponding to other perception signals that do not meet the first condition, no feedback may be given or invalid values ​​may be fed back. This may be specified by the protocol. For example, the first node feeds back the perception information obtained based on the first N perception signals that meet the quality requirements. When only K perception signals meet the quality requirements, K<N, the perception information corresponding to the K+1 to N perception signals will not be fed back or invalid values ​​will be fed back. In particular, when none of the perception signals received by the first node meet the quality requirements, that is, K=0, the first node will not feed back or will feed back all invalid values. This may be specified by the protocol.

[0125] In some embodiments, the first condition includes: the perception signal meets quality requirements. In some embodiments, the first condition includes: the perception information obtained based on the perception signal is within a valid interval. In some embodiments, the first condition includes: the perception information obtained based on the perception signal is within a valid interval and the perception signal meets quality requirements.

[0126] In some embodiments, the upper limit N may be specified by a protocol or configured through configuration information. By limiting the upper limit of the number of perception signals, it is possible to avoid an excessive amount of feedback of perception information.

[0127] In some embodiments, if, when selecting the above-mentioned N perception signals that meet the first condition according to the priority principle, there are multiple perception signals with the same priority, at least one perception signal can be randomly selected from the multiple perception signals so that the number of perception signals finally selected meets the restriction requirement of the upper limit value N.

[0128] In some embodiments, the priority principle is determined based on at least one of the following information: reliability of the perception signal, reception quality of the perception signal, reception energy of the perception signal, line-of-sight probability of the perception signal, and distance between the perception signal and a center value.

[0129] In some embodiments, the priority of the perception signal is determined based on one of the aforementioned information, such as received energy. The greater the received energy, the higher the priority. The first node then sorts the received perception signals in descending order of received energy. If the number of perception signals in the sequence that meet the first condition is greater than an upper limit N, the N perception signals at the beginning of the sequence that meet the first condition are selected, and perception information is obtained based on these selected perception signals. If the number of perception signals in the sequence that meet the first condition is less than or equal to the upper limit N, the perception signals in the sequence that meet the first condition are selected, and perception information is obtained based on these selected perception signals.

[0130] In some embodiments, the priority of the perception signal is determined based on at least two of the aforementioned information, such as reception quality and line-of-sight probability. For example, a priority value can be calculated based on reception quality and line-of-sight probability according to a predefined algorithm. Assuming that a larger priority value indicates a higher priority, the first node calculates a priority value for each received perception signal and sorts them in descending order. Assuming that a smaller priority value indicates a higher priority, the first node calculates a priority value for each received perception signal and sorts them in ascending order. If the number of perception signals in a sequence that meet a first condition is greater than an upper limit N, N perception signals at the beginning of the sequence that meet the first condition are selected, and perception information is obtained based on these selected perception signals. If the number of perception signals in a sequence that meet the first condition is less than or equal to the upper limit N, the perception signals in the sequence that meet the first condition are selected, and perception information is obtained based on these selected perception signals.

[0131] When the number of perception signals that meet the first condition is greater than the upper limit value N, the first node selects N perception signals from the perception signals that meet the first condition according to the above-mentioned priority principle, and feeds back perception information obtained based on the N perception signals. This not only avoids an excessive amount of feedback of perception information, but also helps to improve the accuracy of the fed-back perception information.

[0132] Please refer to FIG6 , which shows a flow chart of a method for receiving perception information provided by an embodiment of the present application. The method may include the following step 610 .

[0133] Step 610: The second node receives perception information, where the perception information is obtained based on a perception signal that meets quality requirements.

[0134] In some embodiments, the second node receives the perception information sent by the first node, where the perception information is obtained based on a perception signal that meets a quality requirement.

[0135] In some embodiments, the second node sends configuration information, where the configuration information is used to configure the quality requirement. In some embodiments, the second node may send the configuration information in a broadcast, multicast, or unicast manner.

[0136] In some embodiments, the second node sends configuration information, the first node receives the configuration information, and determines the quality requirement based on the configuration information. The first node measures the perception signal, obtains perception information based on the perception signal that meets the quality requirement, and sends the perception information to the second node, which receives the perception information.

[0137] In some embodiments, the configuration information is used to configure constraints on the perception information. In some embodiments, the constraints include at least one of the following: the perception information is within a valid interval, and the perception information is obtained based on a perception signal that meets quality requirements. A first node receives the configuration information and determines the constraints based on the configuration information. The first node sends the perception information that meets the constraints to a second node, and the second node receives the perception information that meets the constraints.

[0138] For details not described in detail in this embodiment, please refer to the above embodiments and will not be repeated here.

[0139] It should be noted that the above steps executed by the first node can be independently implemented as a method for sending perception information on the first node side; the above steps executed by the second node can be independently implemented as a method for receiving perception information on the second node side.

[0140] The following are device embodiments of the present application, which can be used to implement the method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

[0141] Please refer to Figure 7, which shows a block diagram of a device for transmitting perception information provided by one embodiment of the present application. This device has the function of implementing the above-mentioned method example on the first node side. The function can be implemented by hardware or by hardware executing corresponding software implementation. This device can be the first node described above, or it can be set in the first node. As shown in Figure 7, the device 700 can include: a sending module 710.

[0142] The sending module 710 is configured to send perception information, where the perception information is obtained based on a perception signal that meets quality requirements.

[0143] In some embodiments, the quality requirement is determined according to at least one of the following information: reception quality of the perception signal, reception energy of the perception signal, and line-of-sight probability of the perception signal.

[0144] In some embodiments, the quality requirements include requirements for one or more quality indicators.

[0145] In some embodiments, when the quality requirement includes requirements of multiple quality indicators, the requirement of each quality indicator is constrained separately; or, there are requirements of at least two quality indicators that are jointly constrained.

[0146] In some embodiments, the apparatus 700 further includes: a receiving module 720, configured to receive configuration information, where the configuration information is used to configure the quality requirement.

[0147] In some embodiments, the configuration information is configured by a second node that receives the perception information.

[0148] In some embodiments, if the first node does not receive the configuration information, or the configuration information does not configure the quality requirement, the first node does not send the perception information, or does not consider the constraint of the quality requirement when sending the perception information.

[0149] In some embodiments, the quality requirements are configured separately for different objects, and the objects include any one or more combinations of the following: sensing services, sensing tasks, sensing targets, and sensing nodes.

[0150] In some embodiments, the apparatus 700 further includes: a receiving module 720 and a processing module 730 .

[0151] The receiving module 720 is configured to receive a sensing signal.

[0152] The processing module 730 is configured to process the perception signal that meets the quality requirement to obtain the perception information.

[0153] In some embodiments, the processing module 730 is configured to perform quality evaluation on the perception signal to determine a perception signal that meets the quality requirement.

[0154] In some embodiments, the first node does not process or feed back the perception signal that does not meet the quality requirement.

[0155] In some embodiments, the perception information is within a valid interval.

[0156] In some embodiments, the valid interval includes a valid range of at least one of the following parameters related to the perception information: distance, delay, intensity, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period.

[0157] In some embodiments, when the number of perception signals that meet the first condition is greater than an upper limit value N, the perception information is obtained based on N perception signals that meet the first condition, where N is a positive integer; wherein the N perception signals that meet the first condition are selected according to a priority principle, and the first condition includes that the perception signal meets the quality requirement.

[0158] In some embodiments, the priority principle is determined based on at least one of the following information: reliability of the perception signal, reception quality of the perception signal, reception energy of the perception signal, line-of-sight probability of the perception signal, and distance between the perception signal and a center value.

[0159] In some embodiments, if there is no perception signal that meets the quality requirement, the perception information includes an invalid value, or the perception information is not sent.

[0160] In some embodiments, the perception signal includes at least one of sound waves, electromagnetic waves, and light waves, and the perception information includes information about the target or environment obtained directly or indirectly based on the perception signal.

[0161] Please refer to Figure 8, which shows a block diagram of a device for receiving perception information provided by one embodiment of the present application. This device has the functions of implementing the above-mentioned method example on the second node side. The functions can be implemented by hardware or by hardware executing corresponding software implementations. This device can be the second node described above, or it can be set in the second node. As shown in Figure 8, the device 800 can include: a receiving module 810.

[0162] The receiving module 810 is configured to receive perception information, where the perception information is obtained based on a perception signal that meets quality requirements.

[0163] In some embodiments, the quality requirement is determined according to at least one of the following information: reception quality of the perception signal, reception energy of the perception signal, and line-of-sight probability of the perception signal.

[0164] In some embodiments, the quality requirements include requirements for one or more quality indicators.

[0165] In some embodiments, when the quality requirement includes requirements of multiple quality indicators, the requirement of each quality indicator is constrained separately; or, there are requirements of at least two quality indicators that are jointly constrained.

[0166] In some embodiments, the apparatus 800 further includes: a sending module 820, configured to send configuration information, where the configuration information is used to configure the quality requirement.

[0167] In some embodiments, the configuration information is sent via multicast or broadcast.

[0168] In some embodiments, the quality requirements are configured separately for different objects, and the objects include any one or more combinations of the following: sensing services, sensing targets, and sensing nodes.

[0169] In some embodiments, the perception information satisfies the following constraints:

[0170] The perception information is within a valid range;

[0171] The perception information is obtained based on a perception signal that meets the quality requirement.

[0172] In some embodiments, the valid interval includes a valid range of at least one of the following parameters related to the perception information: distance, delay, intensity, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period.

[0173] In some embodiments, when the number of perception signals that meet the first condition is greater than an upper limit value N, the perception information is obtained based on N perception signals that meet the first condition, where N is a positive integer; wherein the N perception signals that meet the first condition are selected according to a priority principle, and the first condition includes that the perception signal meets the quality requirement.

[0174] In some embodiments, the priority principle is determined based on at least one of the following information: reliability of the perception signal, reception quality of the perception signal, reception energy of the perception signal, line-of-sight probability of the perception signal, and distance between the perception signal and a center value.

[0175] In some embodiments, if there is no perception signal that meets the quality requirement, the perception information includes an invalid value, or the perception information is not sent.

[0176] In some embodiments, the perception signal includes at least one of sound waves, electromagnetic waves, and light waves, and the perception information includes information about the target or environment obtained directly or indirectly based on the perception signal.

[0177] It should be noted that the device provided in the above embodiment only uses the division of the above-mentioned functional modules as an example to implement its functions. In actual applications, the above-mentioned functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0178] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0179] Please refer to Figure 9, which shows a schematic diagram of the structure of a device 900 provided in one embodiment of the present application. The device 900 can be used to perform the method steps in the above embodiments. The device 900 can be an access network device (such as a base station), a terminal device, a server, a core network element, a perception information collector, or other devices. The device 900 may include: a processor 901, a transceiver 902, and a memory 903. The processor 901 is used to implement the functions of the above-mentioned processing module, and the transceiver 902 is used to implement the functions of the above-mentioned receiving module and / or sending module.

[0180] The processor 901 includes one or more processing cores. The processor 901 executes various functional applications and information processing by running software programs and modules.

[0181] The transceiver 902 may include a receiver and a transmitter. For example, the receiver and the transmitter may be implemented as the same wireless communication component, which may include a wireless communication chip and a radio frequency antenna.

[0182] The memory 903 may be connected to the processor 901 and the transceiver 902 .

[0183] The memory 903 may be used to store a computer program executed by the processor, and the processor 901 is used to execute the computer program to implement each step of the above method.

[0184] In addition, the memory 903 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, and the volatile or non-volatile storage device includes but is not limited to: a magnetic disk or an optical disk, an electrically erasable programmable read-only memory, an erasable programmable read-only memory, a static access memory, a read-only memory, a magnetic memory, a flash memory, and a programmable read-only memory.

[0185] In some embodiments, when the device 900 is implemented as a first node, the transceiver 902 is configured to send perception information, where the perception information is obtained based on a perception signal that meets quality requirements.

[0186] In some embodiments, when the device 900 is implemented as a second node, the transceiver 902 is configured to receive perception information, where the perception information is obtained based on a perception signal that meets a quality requirement.

[0187] For details not described in detail in the above embodiments, please refer to the introduction in the above method embodiments, which will not be repeated here.

[0188] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. The computer program is used to be executed by a processor of the first node to implement the above-mentioned method for sending perception information.

[0189] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. The computer program is used to be executed by a processor of the second node to implement the above-mentioned method for receiving perception information.

[0190] In some embodiments, the computer-readable storage medium may include: ROM (Read-Only Memory), RAM (Random-Access Memory), SSD (Solid State Drives), or an optical disk, etc. Among them, the random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0191] An embodiment of the present application also provides a chip, which includes a programmable logic circuit and / or program instructions. When the chip runs on the first node, it is used to implement the above-mentioned method for sending perception information.

[0192] An embodiment of the present application also provides a chip, which includes a programmable logic circuit and / or program instructions. When the chip runs on the second node, it is used to implement the above-mentioned method for receiving perception information.

[0193] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. The processor of the first node reads and executes the computer program from the computer-readable storage medium to implement the above-mentioned method for sending perception information.

[0194] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. The processor of the second node reads and executes the computer program from the computer-readable storage medium to implement the above-mentioned method for receiving perception information.

[0195] It should be understood that the "indication" mentioned in the embodiments of this application can be a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" can mean that A directly indicates B, for example, B can be obtained through A; it can also mean that A indirectly indicates B, for example, A indicates C, and B can be obtained through C; it can also mean that there is an association between A and B.

[0196] In the description of the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and being indicated, configuration and being configured, etc.

[0197] In this document, "plurality" refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0198] In addition, the step numbers described in this document only illustrate a possible execution order between the steps. In some other embodiments, the above steps may not be executed in the order of the numbers, such as two steps with different numbers are executed at the same time, or two steps with different numbers are executed in the opposite order of the diagram. The embodiments of the present application are not limited to this.

[0199] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0200] The above description is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for sending perception information, characterized in that: The method is performed by a first node, and includes: The perception information is sent, where the perception information is obtained based on the perception signal that meets the quality requirement.

2. The method according to claim 1, characterized in that The quality requirement is determined according to at least one of the following information: reception quality of the perception signal, reception energy of the perception signal, and line-of-sight probability of the perception signal.

3. The method according to claim 1 or 2, characterized in that: The quality requirements include requirements for one or more quality indicators.

4. The method according to claim 3, characterized in that: When the quality requirements include multiple quality indicators, The requirements for each of the quality indicators mentioned are bound separately; or, There are at least two requirements for the quality indicators to be combined.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: Configuration information is received, where the configuration information is used to configure the quality requirement.

6. The method according to claim 5, characterized in that The configuration information is configured by a second node that receives the perception information.

7. The method according to claim 5 or 6, characterized in that: The receiving configuration information includes: The configuration information broadcast or multicast by the second node is received.

8. The method according to any one of claims 5 to 7, characterized in that: In a case where the first node does not receive the configuration information, or the configuration information does not configure the quality requirement, the first node does not send the perception information, or does not consider the constraint of the quality requirement when sending the perception information.

9. The method according to any one of claims 1 to 8, characterized in that: The quality requirements are configured separately for different objects, and the objects include any one or more combinations of the following: sensing services, sensing tasks, sensing targets, and sensing nodes.

10. The method according to any one of claims 1 to 9, characterized in that: Before sending the perception information, the method further includes: receiving sensory signals; The perception signal that meets the quality requirement is processed to obtain the perception information.

11. The method according to claim 10, characterized in that The first node does not process or feed back the perception signal that does not meet the quality requirement.

12. The method according to any one of claims 1 to 11, characterized in that: The perception information is within a valid range.

13. The method according to claim 12, characterized in that The valid interval includes a valid range of at least one of the following parameters related to the perception information: distance, delay, intensity, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period.

14. The method according to any one of claims 1 to 13, characterized in that: When the number of perceptual signals satisfying a first condition is greater than an upper limit value N, the perceptual information is obtained based on N perceptual signals satisfying the first condition, where N is a positive integer; wherein the N perceptual signals satisfying the first condition are selected according to a priority principle, and the first condition includes that the perceptual signal satisfies the quality requirement.

15. The method according to claim 14, characterized in that The priority principle is determined according to at least one of the following information: reliability of the perception signal, reception quality of the perception signal, reception energy of the perception signal, line-of-sight probability of the perception signal, and distance between the perception signal and a center value.

16. The method according to any one of claims 1 to 15, characterized in that If there is no perception signal satisfying the quality requirement, the perception information includes an invalid value, or the perception information is not sent.

17. The method according to any one of claims 1 to 16, characterized in that: The perception signal includes at least one of sound waves, electromagnetic waves, and light waves, and the perception information includes information about a target or an environment obtained directly or indirectly based on the perception signal.

18. A method for receiving perception information, characterized in that: The method is performed by the second node, and the method includes: Perception information is received, where the perception information is obtained based on a perception signal that meets a quality requirement.

19. The method according to claim 18, characterized in that The quality requirement is determined according to at least one of the following information: reception quality of the perception signal, reception energy of the perception signal, and line-of-sight probability of the perception signal.

20. The method according to claim 18 or 19, characterized in that The quality requirements include requirements for one or more quality indicators.

21. The method according to claim 20, characterized in that When the quality requirements include multiple quality indicators, The requirements for each of the quality indicators mentioned are bound separately; or, There are at least two requirements for the quality indicators to be combined.

22. The method according to any one of claims 18 to 21, characterized in that The method further comprises: Configuration information is sent, where the configuration information is used to configure the quality requirement.

23. The method according to claim 22, characterized in that The configuration information is sent via multicast or broadcast.

24. The method according to any one of claims 18 to 23, characterized in that The quality requirement is configured separately for different objects, and the objects include any one or more combinations of the following: sensing services, sensing targets, and sensing nodes.

25. The method according to any one of claims 18 to 24, characterized in that The perception information meets the following constraints: The perception information is within a valid range; The perception information is obtained based on a perception signal that meets the quality requirement.

26. The method according to claim 25, characterized in that The valid interval includes a valid range of at least one of the following parameters related to the perception information: distance, delay, intensity, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period.

27. The method according to any one of claims 18 to 26, characterized in that When the number of perceptual signals satisfying a first condition is greater than an upper limit value N, the perceptual information is obtained based on N perceptual signals satisfying the first condition, where N is a positive integer; wherein the N perceptual signals satisfying the first condition are selected according to a priority principle, and the first condition includes that the perceptual signal satisfies the quality requirement.

28. The method according to claim 27, characterized in that The priority principle is determined according to at least one of the following information: reliability of the perception signal, reception quality of the perception signal, reception energy of the perception signal, line-of-sight probability of the perception signal, and distance between the perception signal and a center value.

29. The method according to any one of claims 18 to 28, characterized in that If there is no perception signal satisfying the quality requirement, the perception information includes an invalid value, or the perception information is not sent.

30. The method according to any one of claims 18 to 29, characterized in that The perception signal includes at least one of sound waves, electromagnetic waves, and light waves, and the perception information includes information about a target or an environment obtained directly or indirectly based on the perception signal.

31. A device for sending perception information, characterized in that: The device comprises: The sending module is used to send perception information, where the perception information is obtained based on a perception signal that meets quality requirements.

32. A device for receiving perception information, characterized in that: The device comprises: The receiving module is used to receive perception information, where the perception information is obtained based on a perception signal that meets quality requirements.

33. A device, characterized in that The device comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program to implement the method according to any one of claims 1 to 17, or to implement the method according to any one of claims 18 to 30.

34. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to be executed by a processor to implement the method according to any one of claims 1 to 17, or to implement the method according to any one of claims 18 to 30.

35. A chip, characterized in that: The chip includes a programmable logic circuit and / or program instructions, and when the chip is running, it is used to implement the method according to any one of claims 1 to 17, or to implement the method according to any one of claims 18 to 30.

36. A computer program product, characterized in that The computer program product comprises a computer program, which is stored in a computer-readable storage medium, and a processor reads and executes the computer program from the computer-readable storage medium to implement the method according to any one of claims 1 to 17, or to implement the method according to any one of claims 18 to 30.

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