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 within a valid interval (410). By constraining the effective interval of the sensing information, the sensing node sends the sensing information in the effective interval, but the sensing information not in the effective interval does not need to be sent, the situation that the whole amount of sensing information is fed back all the time is avoided, the processing complexity and energy consumption of the sensing node can be reduced, the feedback quantity can be reduced, and the sensing efficiency is improved. Transmission resources are saved, and the transmission efficiency of sensing information is 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] If the sensing node feeds back all the sensing information it receives, it will result in excessive feedback and waste transmission resources.

[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, which is executed by a first node and includes: sending perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

[0008] According to one aspect of an embodiment of the present application, a method for receiving perception information is provided, which is executed by a second node. The method includes: receiving perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

[0009] According to one aspect of an embodiment of the present application, a device for sending perception information is provided, the device comprising: a sending module for sending perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

[0010] According to one aspect of an embodiment of the present application, a device for receiving perception information is provided, the device comprising: a receiving module for receiving perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] The technical solutions provided in the embodiments of the present application can bring the following beneficial effects:

[0016] By constraining the effective interval of perception information, the perception node sends the perception information within the effective interval, while the perception information outside the effective interval does not need to be sent, avoiding the need to always feed back the full amount of perception information. This not only helps to reduce the processing complexity and energy consumption of the perception node, but also reduces the feedback amount, saves transmission resources, and improves the transmission efficiency of perception information. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic diagram of a network architecture provided by an embodiment of the present application;

[0018] FIG2 is a schematic diagram of eight sensing modes provided by an embodiment of the present application;

[0019] FIG3 is a schematic diagram of a perception system including multiple perception nodes provided by one embodiment of the present application;

[0020] FIG4 is a flowchart of a method for sending perception information provided by an embodiment of the present application;

[0021] FIG5 is a schematic diagram of the statistical results of the distribution of sight distance probability with distance in different scenarios provided by an embodiment of the present application;

[0022] FIG6 is a schematic diagram illustrating the relationship between the flight time and distance of a signal provided by one embodiment of the present application;

[0023] FIG7 is a flowchart of a method for receiving perception information provided by an embodiment of the present application;

[0024] FIG8 is a schematic diagram showing the phase variation of respiration detection over time according to an embodiment of the present application;

[0025] FIG9 is a schematic diagram of phase spectrum analysis of respiration detection provided by one embodiment of the present application;

[0026] FIG10 is a block diagram of a device for sending perception information provided by an embodiment of the present application;

[0027] FIG11 is a block diagram of a device for receiving perception information provided by an embodiment of the present application;

[0028] FIG12 is a schematic structural diagram of a device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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 .

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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:

[0040] 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).

[0041] 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.

[0042] The above is just an example, providing some classifications of perception applications. The application areas of perception are not limited to the above examples.

[0043] 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.

[0044] "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.

[0045] 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.

[0046] The nodes involved in perception are as follows:

[0047] Perception sending node: the sending node of the perception signal.

[0048] Perception receiving node: a receiving node that perceives signals.

[0049] Perception nodes: Perception sending nodes and perception receiving nodes are collectively referred to as perception nodes, that is, nodes that perform perception.

[0050] 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.

[0051] 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.

[0052] Regarding perception, it can be divided into 8 modes as shown in Figure 2.

[0053] 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).

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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 .

[0063] Step 410: The first node sends the sensing information within the valid interval.

[0064] 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.

[0065] 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.

[0066] In some embodiments, the first node sends perception information within a valid interval 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.

[0067] 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.

[0068] The perception information obtained by the first node based on the received perception signal may be entirely within the valid interval, or part of it may be within the valid interval while the other part is not within the valid interval, or all of it may not be within the valid interval. In an embodiment of the present application, after obtaining the perception information, the first node can determine whether the perception information is within the valid interval, and the first node sends the perception information within the valid interval. In other words, the first node does not need to send the perception information that is not within the valid interval, thereby saving the transmission resources required to send the perception information.

[0069] In some embodiments, the valid interval may be a value range or a set of one or more values. The valid interval may be set for at least one parameter related to the perception information.

[0070] In some embodiments, the valid interval includes a valid range of at least one of the following parameters related to the perception information.

[0071] In some embodiments, the at least one parameter includes at least one of the following: distance, delay, time, intensity, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period. Of course, the present application includes but is not limited to the aforementioned parameters and may also include other parameters.

[0072] In some embodiments, the distance may refer to the distance between the first node and the sensing target. The effective range of the distance may include one or more distance value ranges. The value range may 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 may also be greater than or less than a certain threshold value, or the value range may also be a set of one or more values.

[0073] For example, considering the coverage radius of the cellular network, the upper limit of the effective range of the distance can be set to 200m (meters) or 500m. However, considering the height, the upper limit can also be set to 250m or 550m. For terminal devices or small base stations with smaller coverage, the upper limit of the effective range of the distance can be set to 10m or 20m.

[0074] For example, the first node is a base station, and the sensing target is a drone. The base station detects the distance of the drone. Considering the altitude limit of the drone and the coverage range of the base station, the distance between the drone and the base station is within a certain range, such as 20m to 200m. For this scenario, the effective distance range can be configured as [20m, 200m].

[0075] For example, considering the validity of the perception information, it is necessary to ensure that the echo signal is a direct path (also called LoS path). However, as the perception distance increases, the probability that the echo signal is a direct path decreases. Therefore, in order to ensure that the perception information is obtained based on the direct path, it is necessary to constrain the perception distance, that is, the effective range of the distance is less than or equal to 20m. In some embodiments, the effective range of the distance varies with the perception environment. For example, for indoor environments or downtown areas, due to the presence of a large number of obstructing objects, the probability of a direct path within 20m is relatively high. Therefore, for indoor environments or downtown areas, the effective range of the distance may be less than or equal to 20m. For open scenes in the suburbs, the probability of a direct path within 200m is very high. Therefore, for open scenes in the suburbs, the effective range of the distance may be less than or equal to 200m. Therefore, the effective range of the distance can be configured according to the scene, and the effective range of the distance corresponding to different scenes may be different.

[0076] Figure 5 illustrates the statistical distribution of Line of Sight (LoS) probability versus distance for several scenarios, including a UMi downtown area, a UMa urban area, an indoor-open office, a factory building, a mixed office, and an office district. To ensure a 90% LoS path, the effective range for UMi scenarios is 20 meters or less; for UMa scenarios, 22 meters or less; for indoor-open offices, 10 meters or less; and for indoor-mixed offices, 3 meters or less.

[0077] In some embodiments, the delay may refer to the delay in transmitting and receiving the perception signal, that is, the difference between the transmission time of the perception signal and the reception time of the perception signal, which may also be referred to as the arrival delay of the perception signal (or the arrival time difference of the perception signal). The effective range of the delay may include one or more delay value ranges. The value range may 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 may also be greater than or less than a certain threshold value, or the value range may also be a set of one or more values.

[0078] For example, considering the coverage radius of the cellular network, the upper limit of the effective range of the delay can be set to 0.5us (microseconds) or 1.7us. However, considering the height, the upper limit can also be set to 0.6us or 1.8us. For terminal devices or small stations with a smaller coverage range, the upper limit of the effective range of the delay can be set to 0.04us or 0.07us. Similar to the effective range of distance, the effective range of delay can also be configured according to the scenario, and the effective range of delay corresponding to different scenarios may be different.

[0079] Distance measurements are often based on the signal's time of flight, which is the difference between the time a signal is sent and the time it is received.

[0080] In the non-spontaneous transmission and reception mode, when the sensing target is relatively close to the transmitting / receiving node of the sensing signal, the signal reception time is also relatively close to the signal transmission time, and the time difference between the two is small. The signal transmission and reception time difference t = (the distance from the sensing signal transmitting node to the sensing target + the distance from the sensing target to the sensing signal receiving node) / c, where c is the speed of light. Figure 6 shows the relationship between the signal flight time and distance. If the sensing distance range is within 600 meters, the signal flight time is within 2μs, and the effective range of delay is less than or equal to 2μs.

[0081] In the self-transmitting and self-receiving mode, when the sensing target is very close to the sensing signal's transceiver node, the sensing signal has not yet been transmitted, but the echo signal has already returned and is mixed with the transmitted signal, making it undetectable. Therefore, some ranging methods have an ambiguity distance constraint, meaning that the measurement result is valid only when the target distance is greater than the ambiguity distance. Considering this, latency has a valid range, meaning that only when it exceeds a threshold value is the sensing information valid, for example, latency T greater than 0.01µs. This threshold can be determined based on the capabilities reported by the sensing signal's transceiver node or specified by the protocol. This threshold is not necessarily unique and is affected by factors such as the frequency band, sensing waveform, and mode. Furthermore, considering sensing coverage, the valid latency range can be [0.01µs, 2µs].

[0082] In some embodiments, time may refer to the arrival time difference of the perception signals described above, or may be referred to as the relative time difference, round-trip time, etc. of the perception signals. That is, the difference between the time the perception signal is sent and the time the perception signal is received. The valid range of time may include one or more time value ranges. The value range may be a range between two threshold values, such as greater than a first threshold value and less than a second threshold value. The value range may also be greater than or less than a certain threshold value, or the value range may be a set of one or more values.

[0083] In some embodiments, strength may refer to the strength of a perception signal, such as the strength of a perception signal received by the first node. The strength of the perception signal may be represented by at least one of reception quality, reception energy, and line-of-sight probability. The effective range of strength may include one or more strength value ranges. The value range may be a range between two threshold values, such as greater than a first threshold value and less than a second threshold value. The value range may also be greater than or less than a certain threshold value, or the value range may be a set of one or more values.

[0084] In some embodiments, the amplitude may refer to the amplitude of a sensing signal, such as the amplitude of a sensing signal received by the first node. The valid range of the amplitude may include one or more amplitude value ranges. The value range may be a range between two threshold values, such as greater than a first threshold value and less than a second threshold value. The value range may also be greater than or less than a certain threshold value, or the value range may be a set of one or more values.

[0085] In some embodiments, the angle may refer to the angle of arrival of a sensing signal, such as the angle of arrival of a sensing signal received by the first node. The valid range of the angle may include one or more angle value ranges. The value range may be a range between two threshold values, such as greater than a first threshold value and less than a second threshold value. The value range may also be greater than or less than a certain threshold value, or the value range may be a set of one or more values.

[0086] For example, based on the potential area of ​​the target drone, it can be determined that the target drone is within a range of ±30 degrees from the base station antenna. In this case, the sending / receiving nodes of the perception signal only need to send / receive perception signals within the range of [-30 degrees, 30 degrees] and only report perception information within the range of [-30 degrees, 30 degrees]. In this case, the valid angle range can be [-30 degrees, 30 degrees].

[0087] In some embodiments, the direction may refer to the direction of the sensing signal. The direction may be represented by the angle of arrival of the sensing signal as described above, or may be represented by multiple predetermined directions (such as east, south, west, north, etc.). The valid range of the direction may include one or more ranges of directions. The range may be a range between two threshold values, such as greater than a first threshold value and less than a second threshold value. The range may also be greater than or less than a certain threshold value, or the range may be a set of one or more values.

[0088] In some embodiments, the speed may refer to the speed of the perceived target, or the relative speed between the first node and the perceived target. The valid range of the speed may include one or more speed value ranges. The value range may 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 may also be greater than or less than a certain threshold value, or the value range may also be a set of one or more values.

[0089] In some embodiments, the effective range of speed may be configured according to the scenario, and the effective range of speed may be different for different scenarios.

[0090] For example, for indoor human activity, a typical speed is between 5 and 7 km / h (kilometers per hour). If the sensing task is to monitor people, only sensing information within the speed range of 5 to 7 km / h is required to be reported, avoiding reporting information about fixed objects in the environment. In this case, the valid speed range could be [5 km / h, 7 km / h].

[0091] For example, in a connected vehicle scenario, car speeds on urban roads range from 20 to 80 km / h. If the perception task is vehicle positioning and tracking, only the perception information within the speed range of 20 to 80 km / h needs to be reported, avoiding reporting information about fixed objects around the road. In this case, the valid speed range could be [20 km / h, 80 km / h].

[0092] In some embodiments, frequency shift may refer to the frequency shift of a sensing signal, such as the frequency shift between a sensing signal received by a first node and a sensing signal sent by a first node. The effective range of the frequency shift may include one or more frequency shift value ranges. The value range may be a range between two threshold values, such as greater than a first threshold value and less than a second threshold value. The value range may also be greater than or less than a certain threshold value, or the value range may be a set of one or more values.

[0093] In some embodiments, the phase may refer to the phase of a sensing signal, such as the phase of a sensing signal received by the first node. The valid range of the phase may include one or more phase value ranges. The value range may be a range between two threshold values, such as greater than a first threshold value and less than a second threshold value. The value range may also be greater than or less than a certain threshold value, or the value range may be a set of one or more values.

[0094] For example, a time-domain channel along a path can be expressed as h(t) = Aexp(-jθ), where A represents the channel amplitude, θ is the phase, and j represents the imaginary unit. Typically, θ is strongly correlated with the propagation distance d, i.e., θ = 2πd / λ.

[0095] For example, for the self-transmitting and self-receiving mode, θ = 2π*2d / λ, when the target distance is 10-15m and the frequency is 900M, the phase range is 1.2π-1.8π. Only the perception information with a phase range of 1.2π-1.8π needs to be fed back, so that the echo signals of environmental objects within 10m can be excluded.

[0096] The range of phase variation depends not only on distance but also on wavelength and frequency. Therefore, the effective range of phase is frequency-dependent. The effective range of phase can be configured independently for different frequencies. For example, for f0 = 900 MHz and 2 GHz, the effective ranges of phase can be configured to be 0.6π to 0.9π and 1.2π to 1.8π, respectively. Alternatively, the effective range of phase can be configured for a reference frequency, and other frequencies can be corrected based on the reference frequency. For example, for the reference frequency f0 = 900 MHz, if the effective range of phase is configured to be 0.6π to 0.9π, then the effective range of phase for 2 GHz is corrected to 1.2π to 1.8π. The principle of correction can be to ensure that the distance range covered is the same.

[0097] In some embodiments, the frequency may refer to the frequency of a sensing signal, such as the frequency of a sensing signal received by the first node. The valid range of the frequency may include one or more frequency value ranges. The value range may 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 may also be greater than or less than a certain threshold value, or the value range may be a set of one or more values.

[0098] In some embodiments, the effective range of frequency may be configured according to the scenario, and the effective range of frequency may be different for different scenarios.

[0099] For example, the respiratory frequency range is [0.1Hz, 0.5Hz]. If the sensing task is to monitor human breathing, only the sensing information with a frequency range of [0.1Hz, 0.5Hz] needs to be reported to avoid interference from other information (such as heart rate). In this case, the effective frequency range can be [0.1Hz, 0.5Hz].

[0100] For example, the frequency range of sit-ups is less than 0.5 Hz. If the perception task is to count the number of sit-ups, only the perception information with a frequency less than 0.5 Hz needs to be reported to avoid interference from other information (such as a partner jumping rope nearby). In this case, the effective frequency range can be less than 0.5 Hz.

[0101] In some embodiments, the period may refer to the period of a sensing signal, such as the period of a sensing signal received by the first node. The valid range of the period may include a value range of one or more periods. The value range may 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 may also be greater than or less than a certain threshold value, or the value range may be a set of one or more values.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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}.

[0107] In some embodiments, the valid range of any of the above parameters can be configured based on the scenario, and the valid range of the parameter can be different for different scenarios. For example, for parameters such as distance, speed, and frequency, different valid ranges can be set for different scenarios as described in the above examples.

[0108] It should be noted that the effective ranges introduced above for different parameters are only exemplary and explanatory. This application does not limit the specific values ​​of the effective ranges, which can be reasonably set based on actual conditions.

[0109] In some embodiments, if the protocol stipulates or configures the above-mentioned valid interval, or in other words, the protocol stipulates or configures the valid range of at least one parameter related to the perception information, the first node sends the perception information within the valid interval.

[0110] In some embodiments, for any of the above parameters, if a valid range for that parameter does not exist, the perception information corresponding to that parameter is not fed back by default, or the perception information corresponding to that parameter is not constrained by a valid range. For example, if a valid range for distance is not specified, the first node does not feed back perception information corresponding to the distance by default, or the perception information corresponding to the distance is not constrained by a valid range.

[0111] In some embodiments, for any parameter, the valid range of the parameter is determined from a finite number of value ranges, or from a combination of a finite number of value ranges. Taking the valid range of distance as an example, assuming a finite number of value ranges are predefined, such as [5m, 20m], [10m, 200m], and [10m, 500m], the valid range of distance may include one or more value ranges selected from these three value ranges. In some embodiments, the combination of these value ranges may be a combination of at least two value ranges, or may include only one value range. Still taking the valid range of distance as an example, assuming a finite number of value range combinations are predefined, such as the following three combinations: Combination 1 is [5m, 20m] and [30m, 50m], Combination 2 is [10m, 200m] and [300m, 400m], and Combination 3 is [500m, 1000m]. The valid range of distance may include one or more combinations selected from these three combinations. In this way, only a limited number of filters need to be set in the sensing node (such as the first node), which helps to reduce the complexity of system implementation.

[0112] In some embodiments, for any parameter's valid range, the valid range does not include fuzzy values ​​of the parameter. Fuzzy values ​​are inaccurate values. For example, if the valid range of distance includes fuzzy values ​​less than 1 meter, then the valid range does not include values ​​less than 1 meter. For example, the valid range of distance can be set to [1m, 10m].

[0113] In some embodiments, when specifying or configuring the valid range of a parameter, if an ambiguous value exists for that parameter, the ambiguous value is first excluded, and the valid range of the parameter is determined from the remaining range of values ​​after excluding the ambiguous value. For example, if the ambiguous value of distance includes values ​​less than 1m, the remaining range of values ​​after excluding the ambiguous value is ≥1m. The valid range of distance is determined from this range of values ​​≥1m, such as determining the valid range of distance to be [1m, 10m].

[0114] The fuzzy values ​​of the above parameters refer to inaccurate values. For example, due to the presence of some interference or noise and other factors, some parameters whose accuracy cannot be guaranteed will be measured. Taking distance as an example, for the self-transmitting and self-receiving perception scenario, the perception node must send a perception signal and receive the echo signal of the perception signal. If the object in the environment is too close to the perception node, there may be a situation where the echo signal of the perception signal is received before the perception signal is sent. This interference between transmission and reception may cause the measured distance to be inaccurate. Therefore, a fuzzy value of the distance can be set, such as less than 1m. Of course, the above fuzzy value can be set according to different parameters and / or different scenarios, and this application does not limit this.

[0115] In some embodiments, the effective range of each parameter is independently constrained. That is, the effective range of a particular parameter is not affected by the effective ranges of other parameters. For example, the effective range of distance is independent of the effective ranges of other parameters, such as speed and angle, and each parameter is independently set.

[0116] In some embodiments, there are joint constraints on the effective ranges of at least two parameters. That is, the setting of the effective range of a certain parameter is affected by the setting of the effective range of at least one other parameter. For example, the setting of the effective range of distance is affected by the setting of the effective range of speed, and the two are jointly constrained. The above-mentioned joint constraint relationship can be specified by the protocol without the need for configuration; or it can be obtained by configuration, for example, by configuring the parameter AssosicatedSpeedAndDistance bool(0,1) to configure the joint constraint relationship between distance and speed.

[0117] For example, a blind person walking around needs to sense obstacles. For stationary objects, only obstacles within 10 meters need to be sensed. Because obstacles are stationary, obstacles within 10 meters will affect the blind person's movements within 5 seconds (assuming that perception information is updated every 5 seconds). However, obstacles beyond 10 meters will not affect the blind person's movements within 5 seconds. Furthermore, the reliability of the perception information decreases at greater distances. For moving objects (such as pedestrians), it is necessary to sense pedestrians within 20 meters. Because people are walking, pedestrians within 20 meters will affect the blind person's movements within 5 seconds, but pedestrians beyond 20 meters will not affect the blind person's movements within 5 seconds. Furthermore, the reliability of the perception information decreases at greater distances. For such scenarios, the effective range of perception information needs to be jointly constrained by distance and speed. For example, the effective range is speed ≤ 0.5 m / s & distance ≤ 10 m and 0.5 m / s < speed < 2 m / s & distance ≤ 20 m. In addition, according to the effective range of the distance, the sensing signal sending node can appropriately reduce the sending power of the sensing signal to save energy consumption.

[0118] For example, the first node detects three mobile targets and a large number of stationary targets through channel detection. The three mobile targets are D = 20m & Speed ​​= 20km / h, D = 200m & Speed ​​= 30km / h, and D = 50m & Speed ​​= 3km / h, respectively. D represents the distance between the first node and the mobile target, and Speed ​​represents the speed of the mobile target. Assuming that the effective interval includes the effective speed range of [20km / h-80km / h], the second node only feeds back two pieces of perception information: D = 20m & Speed ​​= 20km / h and D = 200m & Speed ​​= 30km / h.

[0119] In some embodiments, if no perception information exists within the valid interval, the perception information includes an invalid value, or the perception information is not transmitted. For example, if all the perception information obtained by a first node based on a received perception signal does not fall within the valid interval, the first node may transmit perception information including an invalid value to inform the receiving party that no perception information exists within the valid interval. 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.

[0120] 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.

[0121] In some embodiments, the perception information is determined based on the perception data within a valid interval. The perception data can be understood as the measurement result obtained by measuring the perception signal. The perception information can be the above-mentioned measurement result, or it can be information obtained by processing the above-mentioned measurement result. Exemplarily, the first node measures the perception signal to obtain the perception data, and generates the perception information based on the perception data. For example, the measurement result obtained by measuring the perception signal is the distance, and the perception information includes the above-mentioned distance. For another example, the measurement result obtained by measuring the perception signal is the delay, and the distance is further calculated based on the delay, and the perception information includes the above-mentioned distance. Therefore, the above-mentioned valid interval can also be set for the perception data. After the first node filters out the perception data within the valid interval, it generates the perception information based on the perception data within the valid interval.

[0122] 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.

[0123] The technical solution provided in the embodiment of the present application constrains the valid interval of perception information. The perception node sends the perception information within the valid interval, while the perception information outside the valid interval does not need to be sent, thereby avoiding always feeding back the full amount of perception information. This not only helps to reduce the processing complexity and energy consumption of the perception node, but also reduces the feedback amount, saves transmission resources, and improves the transmission efficiency of perception information.

[0124] In some embodiments, the above-mentioned valid interval may be specified by the protocol, and no configuration process is required. The "protocol" mentioned in this application may refer to a standard protocol in the field of communications, for example, it may include 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.

[0125] In some embodiments, the validity interval is configured. In this case, the first node receives configuration information for configuring the validity interval. In some embodiments, the configuration information may include the validity interval, such as the valid range of one or more parameters. In some embodiments, the configuration information may also include any other information capable of determining the validity interval, such as an index value of the valid range of one or more parameters.

[0126] 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 a validity interval based on the configuration information. The first node sends the perception information within the validity interval to the second node, and the second node receives the perception information within the validity interval.

[0127] 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 valid interval based on the configuration information. The first node sends perception information within the valid interval to the second node, and the second node receives the perception information within the valid interval. 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.

[0128] 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 an introduction to quality requirements, please refer to the following embodiments.

[0129] In some embodiments, the validity interval can be independently configured for different objects. That is, the validity interval can be independently configured for different objects. The above objects include at least one of the following: sensing nodes, scenarios, and services.

[0130] In some embodiments, a single-capability sensing node may adopt a default state without sending additional configuration information. For example, for a sensing node with only ranging capability, the effective range of distances may be specified by a protocol or pre-configured in the node's factory settings, without requiring configuration information to be used.

[0131] In some embodiments, the validity interval may also be provided to the perception signal transmitting node or the perception signal configuring node in a protocol-specified or configured manner to guide the transmission and configuration of the perception signal. For example, the perception signal transmission period or the perception signal cluster interval may be determined based on the speed validity interval.

[0132] By stipulating or configuring the valid interval through the protocol, the sensing node can consider the constraints of the valid interval when feeding back the sensing information and feed back the sensing information within the valid interval.

[0133] In some embodiments, in addition to constraining the effective interval of the perception information, the perception information may also be constrained by other restrictions.

[0134] In some embodiments, the perception information is obtained based on a perception signal that meets quality requirements.

[0135] 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.

[0136] 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 validity period of the perception information but also constrain the quality requirements of the perception signal. The first node only needs to feed back the perception information obtained based on the perception signals that meet the quality requirements. In other words, the first node does not need to process or feed back perception signals that do not meet the quality requirements.

[0137] In some embodiments, the quality requirement is determined based on at least one of the following information: reception quality of the perceived signal, received energy of the perceived signal, and line-of-sight probability of the perceived signal. In some embodiments, 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). In some embodiments, received energy includes at least one of the following: signal energy, RSRP (Reference Signal Receiving Power), and RSSI (Received Signal Strength Indicator). Line-of-sight probability, also known as LoS probability, refers to the probability that a LoS path (i.e., a direct path) exists in a spatial environment, i.e., the probability that the echo signal of the perceived signal is a direct path.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] Through the above method, in addition to constraining the effective range of perception information, the quality requirements of the perception signal can also be constrained. This can not only further reduce the feedback amount and improve the transmission efficiency of perception information, but also help to improve the accuracy of the feedback perception information.

[0143] In some embodiments, when the number of perception signals that meet the first condition is greater than an upper limit N, the perception information is obtained based on the N perception signals that meet the first condition, where the N perception signals that meet the first condition are selected based on a priority principle, and N is a positive integer. In some embodiments, the first condition includes: the perception information obtained based on the perception signal is within a valid range. 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 range, and the perception signal meets quality requirements.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] In addition, 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.

[0150] 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.

[0151] Please refer to FIG7 , 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 710 .

[0152] Step 710: The second node receives the sensing information within the valid interval.

[0153] In some embodiments, the valid interval includes a valid range of at least one parameter related to the sensory information.

[0154] In some embodiments, the second node receives the perception information sent by the first node, where the perception information is within a valid interval.

[0155] In some embodiments, the second node sends configuration information, where the configuration information is used to configure a valid interval. In some embodiments, the second node may send the configuration information in a broadcast, multicast, or unicast manner.

[0156] In some embodiments, the second node sends configuration information, the first node receives the configuration information, and determines a valid interval based on the configuration information. The first node sends perception information within the valid interval to the second node, and the second node receives the perception information within the valid interval.

[0157] 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.

[0158] For details not described in detail in this embodiment, please refer to the above embodiments and will not be repeated here.

[0159] For example, take the sensory feedback of respiratory frequency as an example. The protocol stipulates or configures the valid interval through configuration information, which includes the valid range of frequency [0.1Hz, 0.5Hz]. The first node calculates the time domain LoS path at the tth moment in the first time window. Find the peak index and then take the phase The phase information [θ0,θ1…,θ T-1 ] (as shown in Figure 8) performs an FFT (Fast Fourier Transformation) using the following formula, resulting in the spectrum diagram shown in Figure 9. In Figure 8, the abscissa represents time k, which can be in time slots, and the ordinate represents phase θ(k). In Figure 9, the abscissa represents n, and the ordinate represents f(n). Note: A normalization factor of 1 / T can also be added, as long as the transmitter and receiver have a consistent understanding of the transformation.

[0160] Extract frequency components f0 that meet the spectrum coefficients, f0 = 0 and 0.2 Hz (Hertz). Among them, only f0 = 0.2 Hz is within the valid interval, so the first node only feeds back the perception information of f0 = 0.2 Hz.

[0161] For example, taking traffic condition perception feedback as an example, the protocol stipulates or configures the valid range through configuration information, and the valid range includes: a valid range of the area and a valid range of the speed. The effective range of the area can be a rectangular area surrounded by four location points, and the effective speed range includes five ranges: ≤20 km / h, (20 km / h, 60 km / h), (60 km / h, 80 km / h), (80 km / h, 100 km / h), and >100 km / h. The perception information is the proportion of reflection points within the effective range of the above five speeds within the effective range of the above area. The first node measures the echo signal of the perception signal and obtains 50 reflection points within the effective range of the above area. The number of reflection points within the effective range of the above five speeds is 40, 9, 0, 1, and 0, respectively, corresponding to the proportions of 80%, 18%, 0%, 2%, and 0%. The first node feeds back 80%, 18%, 0%, 2%, and 0% as perception information. After receiving the perception information fed back by the first node, the second node can preliminarily determine that congestion occurs on the road section.

[0162] 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.

[0163] 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.

[0164] Please refer to Figure 10, 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 10, the device 1000 may include: a sending module 1010.

[0165] The sending module 1010 is configured to send the perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

[0166] In some embodiments, the at least one parameter includes at least one of the following: distance, delay, time, intensity, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period.

[0167] In some embodiments, the effective range of each of the parameters is constrained separately; or, the effective ranges of at least two of the parameters are jointly constrained.

[0168] In some embodiments, for any valid range of the parameter, the valid range of the parameter includes one or more value ranges.

[0169] In some embodiments, for any valid range of the parameter, the valid range of the parameter is determined from a finite number of value ranges, or is determined from a combination of a finite number of value ranges.

[0170] In some embodiments, for any of the parameters, if there is no valid range for the parameter, the perception information corresponding to the parameter is not fed back by default, or the perception information corresponding to the parameter is not constrained by the valid range by default.

[0171] In some embodiments, for any valid range of the parameter, the valid range of the parameter does not include an ambiguous value of the parameter, where the ambiguous value refers to an inaccurate value.

[0172] In some embodiments, the apparatus 1000 further includes: a receiving module 1020, configured to receive configuration information, where the configuration information is used to configure the valid interval.

[0173] In some embodiments, the configuration information is configured by a second node that receives the perception information.

[0174] In some embodiments, the perception information satisfies the following constraints:

[0175] The perception information is within the valid range;

[0176] The perception information is obtained based on a perception signal that meets quality requirements.

[0177] 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.

[0178] In some embodiments, the perception information includes: perception information that satisfies a constraint condition, and / or statistical results of the perception information that satisfies a constraint condition; wherein the constraint condition includes that the perception information is within the valid interval.

[0179] In some embodiments, when the number of perceptual signals that meet the first condition is greater than an upper limit value N, the perceptual information is obtained based on N perceptual signals that meet the first condition selected according to a priority principle, where N is a positive integer; wherein the first condition includes: the perceptual information obtained based on the perceptual signal is within the valid interval.

[0180] 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.

[0181] In some embodiments, if there is no perception information within the valid interval, the perception information includes an invalid value, or the perception information is not sent.

[0182] In some embodiments, the perception information includes: a measurement value of the perception signal, or a quantized result of the measurement value of the perception signal, or an index of an interval in which the measurement value of the perception signal is located.

[0183] In some embodiments, the perception information is determined based on perception data within the valid interval.

[0184] 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.

[0185] Please refer to Figure 11, 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 11, the device 1100 may include: a receiving module 1110.

[0186] The receiving module 1110 is configured to receive perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

[0187] In some embodiments, the at least one parameter includes at least one of the following: distance, delay, time, intensity, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period.

[0188] In some embodiments, the effective range of each of the parameters is constrained separately; or, the effective ranges of at least two of the parameters are jointly constrained.

[0189] In some embodiments, for any valid range of the parameter, the valid range of the parameter includes one or more value ranges.

[0190] In some embodiments, for any valid range of the parameter, the valid range of the parameter is determined from a finite number of value ranges, or is determined from a combination of a finite number of value ranges.

[0191] In some embodiments, for any of the parameters, if there is no valid range for the parameter, the perception information corresponding to the parameter is not fed back by default, or the perception information corresponding to the parameter is not constrained by the valid range by default.

[0192] In some embodiments, for any valid range of the parameter, the valid range of the parameter does not include an ambiguous value of the parameter, where the ambiguous value refers to an inaccurate value.

[0193] In some embodiments, the apparatus 1100 further includes: a sending module 1120, configured to send configuration information, where the configuration information is used to configure the valid interval.

[0194] In some embodiments, the perception information satisfies the following constraints:

[0195] The perception information is within the valid range;

[0196] The perception information is obtained based on a perception signal that meets quality requirements.

[0197] 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.

[0198] In some embodiments, the perception information includes: perception information that satisfies a constraint condition, and / or statistical results of the perception information that satisfies a constraint condition; wherein the constraint condition includes that the perception information is within the valid interval.

[0199] In some embodiments, when the number of perceptual signals that meet the first condition is greater than an upper limit value N, the perceptual information is obtained based on N perceptual signals that meet the first condition selected according to a priority principle, where N is a positive integer; wherein the first condition includes: the perceptual information obtained based on the perceptual signal is within the valid interval.

[0200] 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.

[0201] In some embodiments, if there is no perception information within the valid interval, the perception information includes an invalid value, or the perception information is not sent.

[0202] In some embodiments, the perception information includes: a measurement value of the perception signal, or a quantized result of the measurement value of the perception signal, or an index of an interval in which the measurement value of the perception signal is located.

[0203] In some embodiments, the perception information is determined based on perception data within the valid interval.

[0204] 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.

[0205] 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.

[0206] 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.

[0207] Please refer to Figure 12, which shows a schematic diagram of the structure of a device 1200 provided in one embodiment of the present application. The device 1200 can be used to perform the method steps in the above embodiments. The device 1200 can be an access network device (such as a base station), a terminal device, a server, a core network element, a perception information collector, and other devices. The device 1200 may include: a processor 1201, a transceiver 1202, and a memory 1203. Among them, the transceiver 1202 is used to implement the functions of the above-mentioned sending module and / or receiving module, and the processor 1201 can be used to implement other processing functions or control sending and / or receiving.

[0208] The processor 1201 includes one or more processing cores. The processor 1201 executes various functional applications and information processing by running software programs and modules.

[0209] The transceiver 1202 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.

[0210] The memory 1203 may be connected to the processor 1201 and the transceiver 1202 .

[0211] The memory 1203 may be used to store a computer program executed by the processor, and the processor 1201 is used to execute the computer program to implement each step of the above method.

[0212] In addition, the memory 1203 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 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.

[0213] In some embodiments, when the device 1200 is implemented as a first node, the transceiver 1202 is configured to send the perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

[0214] In some embodiments, when the device 1200 is implemented as a second node, the transceiver 1202 is configured to receive the perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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).

[0219] 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.

[0220] 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.

[0221] 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.

[0222] 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.

[0223] 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.

[0224] 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.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] 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 within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

2. The method according to claim 1, characterized in that The at least one parameter includes at least one of the following: distance, delay, time, intensity, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period.

3. The method according to claim 1 or 2, characterized in that: The valid range of each of the parameters is constrained separately; or, There are at least two joint constraints on the valid ranges of the parameters.

4. The method according to any one of claims 1 to 3, characterized in that: For any valid range of the parameter, the valid range of the parameter includes one or more value ranges.

5. The method according to any one of claims 1 to 4, characterized in that: For any valid range of the parameter, the valid range of the parameter is determined from a finite number of value ranges, or from a combination of a finite number of value ranges.

6. The method according to any one of claims 1 to 5, characterized in that: For any of the parameters, if there is no valid range for the parameter, it is assumed that the perception information corresponding to the parameter is not fed back, or it is assumed that the perception information corresponding to the parameter is not constrained by the valid range.

7. The method according to any one of claims 1 to 6, characterized in that: For any valid range of the parameter, the valid range of the parameter does not include an ambiguous value of the parameter, where the ambiguous value refers to an inaccurate value.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: Configuration information is received, where the configuration information is used to configure the validity interval.

9. The method according to claim 8, characterized in that The configuration information is configured by a second node that receives the perception information.

10. The method according to any one of claims 1 to 9, characterized in that: The perception information is obtained based on a perception signal that meets quality requirements.

11. The method according to claim 10, 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.

12. The method according to any one of claims 1 to 11, characterized in that: The perception information includes: the value of the perception information and / or the statistical result of the value of the perception information.

13. The method according to any one of claims 1 to 12, 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: the perceptual information obtained based on the perceptual signal is within the valid interval.

14. The method according to claim 13, 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.

15. The method according to any one of claims 1 to 14, characterized in that If there is no perception information within the valid interval, the perception information includes an invalid value, or the perception information is not sent.

16. The method according to any one of claims 1 to 15, characterized in that The perception information includes: a measurement value of a perception signal, or a quantization result of the measurement value of the perception signal, or an interval index where the measurement value of the perception signal is located.

17. The method according to any one of claims 1 to 16, characterized in that: The perception information is determined based on the perception data within the valid interval.

18. The method according to any one of claims 1 to 17, 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.

19. 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 within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

20. The method according to claim 19, characterized in that The at least one parameter includes at least one of the following: distance, delay, time, intensity, amplitude, angle, orientation, speed, frequency shift, phase, frequency, and period.

21. The method according to claim 19 or 20, characterized in that The valid range of each of the parameters is constrained separately; or, There are at least two joint constraints on the valid ranges of the parameters.

22. The method according to any one of claims 19 to 21, characterized in that For any valid range of the parameter, the valid range of the parameter includes one or more value ranges.

23. The method according to any one of claims 19 to 22, characterized in that For any valid range of the parameter, the valid range of the parameter is determined from a finite number of value ranges, or from a combination of a finite number of value ranges.

24. The method according to any one of claims 19 to 23, characterized in that For any of the parameters, if there is no valid range for the parameter, it is assumed that the perception information corresponding to the parameter is not fed back, or it is assumed that the perception information corresponding to the parameter is not constrained by the valid range.

25. The method according to any one of claims 19 to 24, characterized in that For any valid range of the parameter, the valid range of the parameter does not include an ambiguous value of the parameter, where the ambiguous value refers to an inaccurate value.

26. The method according to any one of claims 19 to 25, characterized in that The method further comprises: Send configuration information, where the configuration information is used to configure the valid interval.

27. The method according to any one of claims 19 to 26, characterized in that The perception information is obtained based on a perception signal that meets quality requirements.

28. The method according to claim 27, 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.

29. The method according to any one of claims 19 to 28, characterized in that The perception information includes: the value of the perception information and / or the statistical result of the value of the perception information.

30. The method according to any one of claims 19 to 29, 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: the perceptual information obtained based on the perceptual signal is within the valid interval.

31. The method according to claim 30, 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.

32. The method according to any one of claims 19 to 31, characterized in that If there is no perception information within the valid interval, the perception information includes an invalid value, or the perception information is not sent.

33. The method according to any one of claims 19 to 32, characterized in that The perception information includes: a measurement value of a perception signal, or a quantization result of the measurement value of the perception signal, or an interval index where the measurement value of the perception signal is located.

34. The method according to any one of claims 19 to 33, characterized in that The perception information is determined based on the perception data within the valid interval.

35. The method according to any one of claims 19 to 34, 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.

36. A device for sending perception information, characterized in that: The device comprises: The sending module is used to send the perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

37. A device for receiving perception information, characterized in that: The device comprises: The receiving module is used to receive the perception information within a valid interval, where the valid interval includes a valid range of at least one parameter related to the perception information.

38. 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 18, or to implement the method according to any one of claims 19 to 35.

39. 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 18, or to implement the method according to any one of claims 19 to 35.

40. 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 18, or to implement the method according to any one of claims 19 to 35.

41. 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 the 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 18, or to implement the method according to any one of claims 19 to 35.

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