Communication sensing method, communication device and communication system

Abstract

The invention provides a communication sensing method, a communication device and a communication system. The method comprises the steps that a first node obtains multiple pieces of sensing information, the sensing information comprises sensing data of at least one target, and the sensing data comprises information of scattering points of the target. And the first node determines one or more clustering targets according to the multiple pieces of sensing information to obtain sensing fusion data of each clustering target. The sensing range and precision can be improved through cooperative sensing, and the sensing ability is improved.

Description

Technical Field

[0001] This application relates to the field of communications, and more specifically, to a communication sensing method, a communication device, and a communication system. Background Technology

[0002] With the further development of mobile communication systems, technologies such as the Internet of Things, artificial intelligence, big data, and automation are reshaping traditional industries and giving rise to intelligent applications such as smart cities and autonomous driving. Mobile communication systems are gradually evolving towards integrated sensing and communication (ISAC), enabling them to provide sensing services to users and becoming an important infrastructure supporting these emerging intelligent applications.

[0003] To address the limitations of single-station sensing, such as limited range and accuracy, a multi-station collaborative sensing approach has been proposed to improve sensing coverage, accuracy, and resolution. Specific collaborative schemes for multi-station collaborative sensing are currently a hot research topic. Summary of the Invention

[0004] This application provides a communication sensing method, communication device, and communication system that can reduce data processing complexity and improve sensing capabilities.

[0005] In a first aspect, a communication sensing method is provided. This method is applied to a first node, for example, and can be executed by the first node, which may be a communication device (such as an access network device, core network device, or terminal) or a component configured in (or used for) the communication device (such as a processor, chip, chip system, or circuit). For ease of explanation, the following description uses a first node as an example; however, this application does not limit the executing entity.

[0006] The method includes: a first node acquiring multiple pieces of sensing information, including sensing data of at least one target, the sensing data including information on the scattering points of the target; and the first node determining one or more clustered targets based on the multiple pieces of sensing information, obtaining sensing fusion data for each clustered target.

[0007] According to the above scheme, the composition of the perceived data in the perceived information is based on targets. The first node can perform target clustering and data fusion based on the perceived information acquired at the target level. This solves the problem of high node processing capabilities required for target clustering and data fusion based on perceived data from different sensing nodes at the link level. The scheme provided in this application, while improving the sensing range and accuracy through collaborative sensing, can reduce data processing complexity and improve sensing capabilities.

[0008] In the embodiments of this application, the target can also be referred to as a perception target, target object, or target object. The target can be understood as an object perceived by a node (such as a perception node) or an object determined by a node based on perception data obtained by performing a perception task.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the perceived data also includes the location information of the target. The first node determines one or more clustering targets based on the multiple pieces of perceived information, obtaining perceived fusion data for each clustering target. This includes: the first node determines a first clustering target based on the perceived data of P targets, obtaining fusion data for the first clustering target, where P is an integer greater than or equal to 2. The multiple pieces of perceived information include the perceived data of the P targets, and the one or more clustering targets include the first clustering target. Wherein, the P targets satisfy target clustering conditions, including that the distance between the locations of two targets is less than or equal to a distance threshold.

[0010] For example, the perceived information may include the target's location information, and the first node may determine the target's location based on the target's location information. Alternatively, the first node may determine the target's location based on the perceived information, such as based on the locations of the target's various scattering points. However, this application is not limited to these methods.

[0011] According to the above scheme, the first node can cluster targets based on target clustering conditions. These conditions may include the distance between targets not exceeding a distance threshold. The first node uses the distance between targets to determine whether different targets identified by each sensing node can be clustered into the same target, thus improving the accuracy of target perception.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the clustering condition for the target also includes that the target types of the targets are the same.

[0013] According to the above scheme, the target clustering condition can also include that the targets are of the same type. The first node can determine the type of the target based on the perceived information. When the distance between multiple targets meets the distance condition in the target clustering condition, the first node also needs to consider the type of the target. If the target types are the same, the multiple targets can be clustered into the same cluster target, thereby improving the accuracy of target perception.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the perceived data also includes type information, with N target types predefined by the protocol or configured via signaling. This type information is used to indicate that the type of the target is at least one of the N target types, where N is a positive integer.

[0015] According to the above scheme, the perception data can include target type information, enabling the first node to determine the target type based on this information. This eliminates the need for the first node to identify the target type based on the perception data, thus reducing the data processing complexity of the first node.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the N target types include one or more of the following types:

[0017] Mobile targets, non-mobile targets, land targets, non-land targets, buildings, vehicles, pedestrian targets, drone targets, or other types of targets not defined.

[0018] In conjunction with the first aspect, in some implementations of the first aspect, the perceived data of the P targets contains N. P The information of the scattering points, the fused data of the first cluster target includes the N scattering points. P N in the information of each scattering point A Information about N scattering points, where N P Greater than or equal to N A And N P N A It is a positive integer.

[0019] According to the above scheme, the first node can fuse the information of the scattering points of P targets in multiple sensing information to obtain the fused data of the first clustered target, so as to provide sensing services for sensing applications based on the fused data.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the N P Greater than the maximum number of scattering points threshold N Sth The first node determines the first clustering target based on the perceived data of P targets, and obtains the fused data of the first clustering target, including: the first node based on the N... P Information from each scattering point is used to determine N. Sth The information of the scattering points, the fused data of the first clustering target includes the N A The information of the scattering points is the N Sth Information from N scattering points A equals N Sth .

[0021] According to the above scheme, the first node can filter the information of the scattering points of P targets from multiple sensing information to obtain N. Sth Information from each scattering point is used to reduce the storage overhead of the fused data for clustering targets.

[0022] In one implementation, the information of the scattering point includes first information, which indicates K configuration parameters of the link to which the scattering point belongs, where K is a positive integer. The first node then determines the N configuration parameters based on these parameters. P Information from each scattering point is used to determine N. Sth Information about the scattering points, including: the first node based on the N P The first information from each scattering point determines the N. Sth Information about each scattering point.

[0023] For example, the K configuration parameters include one or more of the following configuration parameters:

[0024] Center frequency, frequency domain bandwidth, number of subcarriers, subcarrier spacing, number of time domain symbols, time domain symbol length, or modulation method.

[0025] According to the above scheme, the first node can determine the sensing quality (and / or sensing accuracy) of the scattering points based on the configuration parameters of the scattering points, thereby selecting N with better quality (and / or higher accuracy). Sth The fused data of the first cluster target includes N scattering points. Sth Information about each scattering point. This allows the first node to filter information about scattering points based on their configuration parameters.

[0026] In another implementation, the information of the scattering point includes second information, which indicates the perceived quality of the scattering point, and the first node is based on the N P Information from each scattering point is used to determine N. Sth Information about the scattering points, including: the first node based on the N P The second information from each scattering point determines the N. Sth Information about each scattering point.

[0027] According to the above scheme, the information of the scattering point can include information used to indicate the perceived quality, so that the first node can filter the information of the scattering point based on the perceived quality of the scattering point.

[0028] For example, the protocol predefines or configures via signaling the correspondence between multiple perceived quality indicators and multiple parameter sets, each parameter set including one or more parameters related to the scattering point, and the second information includes one of the multiple perceived quality indicators.

[0029] According to the above scheme, the second information may include a sensing quality indicator, which can avoid the inclusion of other information used to filter scattering points in the sensing data, reduce the transmission overhead of sensing information, and improve resource utilization.

[0030] In conjunction with the first aspect, in certain implementations of the first aspect, the information of the scattering point is used to indicate one or more of the following information about the scattering points contained in the target:

[0031] The number of scattering points, the positional variance of the scattering points contained in the target, the identifier of the scattering points, the position of the scattering points, the positional accuracy of the scattering points, the velocity of the scattering points, the type of scattering points, the power of the transmission path in which the scattering points are located, or the signal-to-noise ratio of the transmission path in which the scattering points are located.

[0032] Secondly, a communication sensing method is provided, which can be applied to a sensing node. For example, it can be executed by a sensing node, which may be a communication device (such as a terminal, access network device, RSU, or sensing device) or a component configured in (or used for) the communication device (such as a processor, chip, chip system, or circuit). For ease of explanation, the following description uses a sensing node as an example; however, this application does not limit the executing entity.

[0033] The method includes: a sensing node performing a sensing task; the sensing node sending sensing information, which includes sensing data of at least one target, the sensing data of the at least one target being obtained by performing the sensing task, and the sensing data including information about the target's scattering points.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the information of the scattering point includes first information, which is used to indicate K configuration parameters of the link to which the scattering point belongs, where K is a positive integer.

[0035] In conjunction with the second aspect, in some implementations of the second aspect, the K configuration parameters include one or more of the following configuration parameters:

[0036] Center frequency, frequency domain bandwidth, number of subcarriers, subcarrier spacing, number of time domain symbols, time domain symbol length, or modulation method.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the information of the scattering point includes second information used to indicate the perceived quality of the scattering point.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: the sensing node determining the second information based on at least one of the location accuracy of the scattering point, the signal-to-noise ratio of the path where the scattering point is located, and the configuration parameters of the link to which the scattering point belongs.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the protocol predefines or preconfigures the correspondence between multiple perceived quality indicators and multiple parameter sets, each parameter set including one or more parameters related to the scattering point, and the second information includes one of the multiple perceived quality indicators.

[0040] In conjunction with the second aspect, in some implementations of the second aspect, the information of the scattering point is used to indicate one or more of the following information about the scattering points contained in the target:

[0041] The number of scattering points, the positional variance of multiple scattering points of the target, the identifier of the scattering points, the position of the scattering points, the positional accuracy of the scattering points, the velocity of the scattering points, the type of scattering points, the power of the transmission path where the scattering points are located, or the signal-to-noise ratio of the transmission path where the scattering points are located.

[0042] In conjunction with the second aspect, in some implementations of the second aspect, the perceived data also includes type information, which is used to indicate the type of the target.

[0043] In conjunction with the second aspect, in some implementations of the second aspect, the protocol predefines or configures N target types via signaling. This type information is used to indicate that the type of the target is at least one of the N target types, where N is a positive integer.

[0044] In conjunction with the second aspect, in some implementations of the second aspect, the N target types include one or more of the following types:

[0045] Mobile targets, non-mobile targets, land targets, non-land targets, buildings, vehicles, pedestrian targets, drone targets, or other types of targets not defined.

[0046] In conjunction with the second aspect, in some implementations of the second aspect, the perceived data also includes the target's identifier and / or the target's location information.

[0047] Thirdly, a communication device is provided. In one design, the device may include modules or units (e.g., chips, chip systems, circuits, or processors) corresponding to the methods / operations / steps / actions described in the first aspect or any of the embodiments of the first aspect. The module may be a hardware circuit, software, or a combination of hardware and software. In one design, the device includes: a transceiver unit for acquiring multiple pieces of sensing information, including sensing data of at least one target, the sensing data including information on the scattering points of the target; and a processing unit for determining one or more clustered targets based on the multiple pieces of sensing information, and obtaining sensing fusion data for each clustered target.

[0048] It should be noted that the definitions of the various information and data in the third aspect can be found in the descriptions of the first and second aspects above, and will not be repeated here.

[0049] In conjunction with the third aspect, in some implementations of the third aspect, the perceived data also includes the location information of the target. The processing unit is specifically used to determine the first cluster target based on the perceived data of P targets and obtain the fused data of the first cluster target, where P is an integer greater than or equal to 2. The multiple perceived information includes the perceived data of the P targets, and the one or more cluster targets include the first cluster target. The P targets satisfy the target clustering condition, which includes that the distance between the locations of two targets is less than or equal to a distance threshold.

[0050] In conjunction with the third aspect, in some implementations of the third aspect, the N P Greater than the maximum number of scattering points threshold N Sth The processing unit is specifically used to process the N P Information from each scattering point is used to determine N. Sth The information of each scattering point, the fused data of the first cluster target includes the N... A The information of each scattering point is that N Sth Information from N scattering points A equals N Sth .

[0051] In conjunction with the third aspect, in some implementations of the third aspect, the information of the scattering point includes first information, which indicates K configuration parameters of the link to which the scattering point belongs, where K is a positive integer. The processing unit is specifically used to determine the N... P The first information from each scattering point determines the N. Sth Information about each scattering point.

[0052] In conjunction with the third aspect, in some implementations of the third aspect, the information of the scattering point includes second information, which is used to indicate the perceived quality of the scattering point, and the processing unit is specifically used to determine the N based on the second information. P The second information from each scattering point determines the N. Sth Information about each scattering point.

[0053] Fourthly, a communication device is provided. In one design, the device may include modules or units (e.g., chips, chip systems, circuits, or processors) corresponding to the methods / operations / steps / actions described in the second aspect or any of the embodiments of the second aspect. The module may be a hardware circuit, software, or a combination of hardware and software. In one design, the device includes: a processing unit for controlling a transceiver unit to perform a sensing task. The transceiver unit is used to transmit sensing information, the sensing information including sensing data of at least one target, the sensing data of the at least one target being obtained by performing the sensing task, and the sensing data including information about the scattering points of the target.

[0054] It should be noted that the definitions of the various information and data in the fourth aspect can be found in the descriptions of the first and second aspects above, and will not be repeated here.

[0055] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the processing unit is further configured to determine the second information based on at least one of the location accuracy of the scattering point, the signal-to-noise ratio of the path where the scattering point is located, and the configuration parameters of the link to which the scattering point belongs.

[0056] Fifthly, a communication device is provided, including a processor. The processor can implement the methods described in the first to second aspects and any possible implementation thereof.

[0057] Optionally, the communication device further includes a memory, and the processor is coupled to the memory and can be used to execute instructions in the memory to implement the methods in the first aspect to the second aspect and any possible implementation of the first aspect to the second aspect.

[0058] Optionally, the communication device further includes a communication interface, to which the processor is coupled. In this embodiment, the communication interface may be a transceiver, pin, circuit, bus, module, or other type of communication interface, and is not limited thereto.

[0059] In one implementation, the communication device is a communication equipment (such as a terminal device or access network equipment). When the communication device is a communication equipment, the communication interface can be a transceiver, or an input / output interface.

[0060] In another implementation, the communication device is a chip configured within a communication device. When the communication device is a chip configured within a communication device, the communication interface can be an input / output interface.

[0061] Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0062] A sixth aspect provides a processor, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is configured to receive signals through the input circuit and transmit signals through the output circuit, causing the processor to execute the methods described in the first to second aspects and any possible implementation thereof.

[0063] In specific implementation, the processor can be one or more chips, the input circuit can be input pins, the output circuit can be output pins, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to and transmitted by a transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0064] In a seventh aspect, a computer program product is provided, comprising: a computer program (also referred to as code or instructions) that, when run, causes a computer to perform the methods described in the first to second aspects and any possible implementation thereof.

[0065] Eighthly, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when executed on a computer, causes the computer to perform the methods described in the first to second aspects and any possible implementation thereof.

[0066] In a ninth aspect, a communication system is provided, comprising at least one first node and at least one sensing node as described above.

[0067] It is understood that the beneficial effects of the features corresponding to the first aspect in aspects two through eight are described in the relevant description in aspect one, and will not be repeated here. Attached Figure Description

[0068] Figure 1 This is a schematic diagram of the architecture of a communication system applicable to embodiments of this application;

[0069] Figure 2 This is a schematic diagram of the perception link in the perception task provided in the embodiments of this application;

[0070] Figure 3 This is a schematic diagram of the perceived target in the perception task provided in the embodiments of this application;

[0071] Figure 4 This is a schematic flowchart of a communication sensing method provided in an embodiment of this application;

[0072] Figure 5 This is a schematic block diagram of an example of a communication device provided in an embodiment of this application;

[0073] Figure 6This is a schematic structural diagram of another example of the communication device provided in the embodiments of this application. Detailed Implementation

[0074] To facilitate understanding of the embodiments of this application, the following description is provided first:

[0075] In this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

[0076] In this application, " / " can indicate that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. "And / or" can be used to describe three relationships between the related objects. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0077] In this application, "at least one" means one or more, and "more than one" means two or more, such as three, four, or more. Similar expressions (such as at least one, at least one, etc.) are used in the same way. "At least one of the following," "one or more of the following," or similar expressions refer to any combination of these items, which may include only a single item or a combination of multiple items. For example, at least one of a, b, or c can mean: a, or b, or c; a and b; or a and c; or b and c; or a, b, and c. Where a, b, and c can be single or multiple.

[0078] In this application, for the convenience of describing the technical solutions of the embodiments of this application, the terms "first" and "second" may be used to distinguish them. The terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0079] In this application, the words "exemplary," "example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "example," or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. The use of the words "exemplary," "example," or "for example" is intended to present the relevant concepts in a specific manner to facilitate understanding.

[0080] In this application, "sending information / data" only indicates the direction of information / data transmission, including direct transmission via the device's communication interface (such as an air interface, or simply air interface). "Sending" can also be understood as the "output" of a module interface. "Sending" can include indirect transmission by the processing unit through the communication interface, meaning that after the processing unit outputs information / data through the module interface, it is transmitted to the device's communication interface and then sent out. "Receiving information / data" only indicates the direction of information / data transmission, including direct reception via the communication interface. "Receiving" can also be understood as the "input" of a module interface. "Receiving information / data" can include indirect reception by the processing unit through the communication interface, meaning that after the communication interface receives information / data, it is transmitted to the processing unit's module interface and then input to the processing unit. "Sending information / data to… (such as a terminal)" can be understood as the destination of the information being the terminal. It can include sending information / data directly or indirectly to the terminal. "Receiving information / data from… (such as a terminal)" can be understood as the source of the information being the terminal, and can include receiving information / data directly or indirectly from the terminal. Information / data may undergo necessary processing, such as format changes, between the source and destination, but the destination can understand the valid information / data from the source. Similar statements in this application can be understood in a similar way, and will not be repeated here.

[0081] The tables in this application are merely examples. The values ​​of the information in each table are only illustrative and may vary in practice; this application does not limit the scope of protection. The tables do not limit the scope of protection of this application. For example, appropriate modifications and adjustments can be made to the tables described above, such as splitting or merging them. Furthermore, the parameter names shown in the headings of each table may use other names understandable to the communication device, and the values ​​or representations of the parameters may also be other values ​​or representations understandable to the communication device. Moreover, the tables may be implemented using other data structures, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or hash tables.

[0082] The technical solutions of this application can be applied to various communication systems, such as Long Term Evolution (LTE) systems, 5th Generation (5G) communication systems, satellite communication systems, Wireless Fidelity (WiFi) systems, and the solutions provided in this application can also be applied to future communication systems or other communication systems. This application does not limit these applications.

[0083] Figure 1 This is a schematic diagram illustrating yet another possible, non-limiting system. For example... Figure 1As shown, the communication system 10 includes a radio access network (RAN) 100, a core network (CN) 200, and a data network (DN) 300. RAN 100 includes at least one RAN node (e.g., Figure 1 110a and 110b (collectively referred to as 110) and at least one terminal (such as Figure 1 RAN 100, denoted as RAN 120a-120j, is collectively referred to as RAN 120. RAN 100 may also include other RAN nodes, such as wireless relay equipment and / or wireless backhaul equipment. Figure 1 (Not shown in the image). Terminal 120 is connected to RAN node 110 wirelessly. Access network node (or RAN node) 110 is connected to core network 200 wirelessly or via wired connection. The core network equipment in core network 200 and access network node 110 in RAN 100 can be different physical devices, or they can be the same physical device integrating core network logical functions and wireless access network logical functions.

[0084] RAN 100 can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as 4G, 5G mobile communication systems, or future evolution systems. RAN 100 can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. RAN 100 can also be a communication system that integrates two or more of the above systems.

[0085] Access network node 110, sometimes also referred to as access network equipment, RAN entity, or access node, constitutes part of the communication system and is used to help terminals achieve wireless access. Multiple access network nodes 110 in communication system 10 can be of the same type or different types. In some scenarios, the roles of access network node 110 and terminal 120 are relative, for example... Figure 1 Network element 120i can be a helicopter or a drone, and it can be configured as a mobile base station. For terminals 120j that access RAN 100 through network element 120i, network element 120i is a base station; however, for base station 110a, network element 120i is a terminal. Access network node 110 and terminal 120 are sometimes referred to as communication devices, for example... Figure 1Network elements 110a and 110b can be understood as communication devices with base station functions, while network elements 120a-120j can be understood as communication devices with terminal functions.

[0086] In one possible scenario, the access network node can be a base station, such as an evolved NodeB (eNodeB), a next-generation NodeB (gNB), or a base station in a future mobile communication system. The access network node can also be a macro base station (e.g., Figure 1 110a), micro base stations or indoor stations (such as Figure 1 The access network node can be a relay node or donor node (as described in 110b), or a wireless controller in a CRAN scenario. Alternatively, the access network node can be an access point (AP), a transmission reception point (TRP), or an access node in a WiFi system. Optionally, the access network node can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, the access network device in vehicle-to-everything (V2X) technology can be a roadside unit (RSU). All or part of the functions of the access network node in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The access network node in this application can also be a logical node, logical module, or software capable of implementing all or part of the access network node functions.

[0087] In another possible scenario, multiple access network nodes collaborate to assist the terminal in achieving wireless access, with each access network node performing a portion of the base station's functions. For example, access network nodes can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0088] A terminal can also be called a terminal device, user equipment (UE), mobile station, mobile terminal, etc. Terminals can be widely used for communication in various scenarios. These scenarios include, but are not limited to, at least one of the following: enhanced mobile broadband (eMBB), ultra-reliable low-latency communication (URLLC), massive machine-type communications (mMTC), D2D, V2X, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearables, intelligent transportation, sensing terminals, integrated communication and sensing terminals, or smart cities, etc. A terminal can be a mobile phone (e.g., Figure 1 120a, 120j and 120e), tablet computers, computers with wireless transceiver capabilities (such as...) Figure 1 120g), customer-premises equipment (CPE), point-of-sale (POS) machines, wearable devices, vehicles (such as...) Figure 1 120b), drones, helicopters, aircraft (such as Figure 1 120i), ships, robots, robotic arms, sensors, detectors, or smart home devices (such as Figure 1 (e.g., 120h).

[0089] In the embodiments of this application, the executing entity can be a communication device or a component (such as a processor, chip, chip system, or circuit) configured in (or used for) the communication device. The following description uses a node (sensing node, first node) as an example of the executing entity. When the executing entity is a component in the communication device, receiving / transmitting can be understood as input / output, that is, the component communicates with other modules or parts of the communication device. Furthermore, the processing performed by a single executing entity can also be divided among multiple executing entities, which can be logically and / or physically separated. For example, the processing performed by a network device can be divided among at least one of CU, DU, RU, etc.

[0090] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0091] The specific process of multiple nodes collaboratively sensing the environment can be as follows: M sensing nodes are responsible for performing sensing tasks to obtain sensing information. One node (called the first node) acquires the sensing information obtained by the M sensing nodes, performs fusion processing, and obtains environmental sensing fusion data. This allows the mobile communication system to provide sensing services to users based on the sensing fusion data obtained by the first node, supporting various intelligent applications. The first node can be one of the M sensing nodes or a node other than the M sensing nodes. In this collaborative sensing process, sensing nodes need to send sensing information to the first node. The content and format of the sensing information need to be defined considering information transmission overhead and sensing accuracy. Sensing nodes can generate sensing information based on the defined content and format. Correspondingly, the first node can interpret the sensing information based on the content and format, thereby performing data fusion processing.

[0092] In one implementation, sensing nodes can process data on a per-sensing-link basis, and the data composition of the sensing information sent by the sensing node can be based on sensing-link units. The sensing task performed by the sensing node can include one or more sensing probes. Specifically, a sensing node can perform one sensing probe by sending a single sensing signal. The transmission link of the sensing signal (called a sensing link) may have scattering points, meaning that the sensing link may contain one or more transmission paths, such as... Figure 2 As shown, link 1 includes one transmission path, link 2 includes three transmission paths, and link 3 includes two transmission paths. A sensing node can obtain sensing link data for a single sensing probe, which may include information about one or more transmission paths of that sensing link. The sensing information sent by the sensing node to the first node may include one or more sensing link data obtained from performing a sensing task. For example... Figure 2 The sensing information sent by the sensing node shown can include data from the three sensing links, from link 1 to link 3. However, this method of reporting sensing information on a per-link basis is not conducive to target identification by the first node in target detection tasks, and the corresponding data processing complexity is high.

[0093] To address the aforementioned issues, this application proposes that the data composition of the sensing information transmitted by the sensing node can be based on the sensing target, such as... Figure 3As shown, after performing one or more sensing probes, a sensing node can identify one or more sensing targets. The sensing information sent by the sensing node can include sensing data of one or more sensing targets, and the sensing data of each target can include information about the target's scattering points. The first node can perform target clustering and data fusion based on the acquired sensing information at the target level. This collaborative sensing approach improves sensing range and accuracy while reducing data processing complexity and enhancing sensing capabilities.

[0094] It should be noted that in this application, the target can be referred to as a perceived target, target object, or target object. The target can be understood as an object perceived by the node or an object determined by the node based on the perceived data.

[0095] The solutions provided in the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0096] Figure 4 This is a schematic flowchart of the communication sensing method provided in this application.

[0097] like Figure 4 As shown, the first node performs cooperative sensing with one or more sensing nodes. These sensing nodes can also be called sensing management function (SMF) nodes or sensing function (SF) nodes. This application does not limit the specific name of the sensing nodes. A sensing node can be a device with sensing functions, which can be a communication device or the device can be configured on a communication device. For example, a sensing node can be or be configured on an access network device, a terminal device, or an RSU. Alternatively, a sensing node can be or be configured on a sensing device dedicated to implementing sensing functions, etc., and this application does not limit this. Different sensing nodes performing sensing tasks in this application can also correspond to the same or different types of communication devices, such as all sensing nodes being access network devices, all being terminals, or all being sensing devices. Alternatively, one sensing node can be an access network device, and another sensing node can be a terminal.

[0098] The first node can be a sensing node in a collaborative sensing mechanism. That is, as a sensing node in this collaborative sensing mechanism, the first node, in addition to performing the sensing tasks within the collaborative sensing mechanism, is also responsible for acquiring the sensing information determined by the sensing nodes and performing data fusion. Alternatively, the first node can be a node other than a sensing node. When the first node is a node other than a sensing node, for example, it can be a node in a terminal, access network, or core network. For instance, the first node can be or be configured in an access network device, or it can be a RAN intelligent controller (RIC) node, or it can be a service management and orchestration (SMO) node under the ORAN architecture, in which the SMO node is mainly responsible for RAN management. This application does not limit this.

[0099] like Figure 4 The communication sensing method shown may include, but is not limited to, the following steps S401 to S403. Each step is described in detail below.

[0100] S401, the sensing node performs the sensing task.

[0101] The sensing nodes perform sensing tasks, and based on the data obtained from performing these tasks, they can obtain sensing information.

[0102] Specifically, the sensing task may include one or more sensing probes. A sensing node can perform a single sensing probe by sending a sensing signal, obtaining link data of the sensing link. The link data may include information about scattering points in the link. The link data obtained by the sensing node in performing the sensing task can identify at least one target, obtaining sensing data for each target. The sensing information includes sensing data for at least one target identified by the sensing node.

[0103] Example 1: Sensing nodes can perform target clustering based on link data to identify at least one target, and then integrate the scattering point information of each target on a target-by-target basis. For example, such as... Figure 3The shown sensing node can perform three sensing probes in a single sensing task. Sensing probe 1 obtains link data for link 1 of the sensing signal. This sensing signal is scattered by scattering point 11 of target 1 and scattering point 21 of target 2 within link 1. The link data for link 1 obtained by the sensing node based on this sensing probe includes information about scattering point 11 of target 1 and scattering point 21 of target 2. The sensing node also performs sensing probes 2 and 3, obtaining link data for links 2 and 3. Link data for link 2 includes information about scattering point 12 of target 1, and link data for link 3 includes information about scattering point 13 of target 1 and scattering point 23 of target 2. This sensing node can perform target clustering based on the link data from link 1 to link 3 to identify two targets, namely target 1 and target 2, and obtain sensing data for target 1 and target 2. The sensing data for target 1 includes scattering point information for scattering points 11, 12, and 13, while the sensing data for target 2 includes scattering point information for scattering points 21 and 23. This sensing node can then determine sensing information, which includes the sensing data for both target 1 and target 2.

[0104] Optionally, the sensing nodes can employ a target clustering algorithm to achieve target clustering and identify at least one target. For example, the target clustering algorithm can be K-means clustering, density-based spatial clustering of applications with noise (DBSCAN), or a machine learning clustering algorithm, etc.

[0105] Optionally, the sensing nodes can employ a target clustering algorithm to achieve target clustering and identify at least one target. For example, the target clustering algorithm can be K-means clustering, density-based spatial clustering of applications with noise (DBSCAN), or a machine learning clustering algorithm, etc.

[0106] The following section will first introduce the information about the scattering points in the target's perception data.

[0107] For example, information about the scattering points can be used to indicate one or more of the following:

[0108] The number of scattering points, the positional variance of multiple scattering points of the target, the identifier of the scattering points, the position of the scattering points, the positional accuracy of the scattering points, the velocity of the scattering points, the type of scattering points, the power of the transmission path where the scattering points are located, the signal-to-noise ratio of the transmission path where the scattering points are located, and the first or second information.

[0109] The first piece of information indicates K configuration parameters of the link to which the scattering point belongs, where K is a positive integer. The second piece of information indicates the sensing quality of the scattering point.

[0110] The information about scattering points can indicate the overall information about the target's scattering points. For example, it can indicate the number of scattering points of the target, allowing the receiver (i.e., the first node) to determine how many scattering points are included in the target's sensing data based on this number, facilitating the interpretation of the sensing data. In Example 1, the information about scattering points in the sensing data of target 1 can indicate that the number of scattering points of target 1 is 3. The information about scattering points in the sensing data of target 2 can indicate that the number of scattering points of target 2 is 2.

[0111] For example, information about scattering points can indicate the positional variance of multiple scattering points of a target. A sensing node can obtain the positional information of each scattering point of the target and, based on the positional information of multiple scattering points (such as all scattering points of the target), obtain the positional variance of the scattering points. The receiving end, by acquiring the positional variance of the scattering points, can determine the degree of dispersion of the target's scattering points relative to the average position of the scattering points.

[0112] The information from the scattering points can indicate relevant information for each scattering point of the target. This information may include, but is not limited to, the identifier assigned to the scattering point by the sensing node, the scattering point's location information, its location accuracy, its velocity, the power of the transmission path along which it lies, or the signal-to-noise ratio of that path. This allows the receiving end to obtain detailed information about the scattering points sensed by the sensing node.

[0113] Optionally, in the target's perception data, the information for each scattering point may include first information, which indicates K configuration parameters of the link to which the scattering point belongs, where K is a positive integer.

[0114] For example, the K configuration parameters include one or more of the following configuration parameters:

[0115] Center frequency, frequency domain bandwidth, number of subcarriers, subcarrier spacing, number of time domain symbols, time domain symbol length, or modulation method.

[0116] The first node can determine the configuration information of the link to which a scattering point belongs based on the first information of that scattering point. For example, the configuration information of the link to which the scattering point belongs, determined by the first node, can be as shown in Table 1. It should be understood that Table 1 is an example of K configuration parameters for a scattering point. These K configuration parameters may include some or all of the configuration parameters shown in Table 1, and may also include other configuration parameters besides those shown in Table 1; this application does not limit this. When the target's sensing data includes the first information of multiple scattering points, the types of configuration parameters indicated by the first information of different scattering points may be the same or different. For example, the types of configuration parameters indicated by the first information of multiple scattering points may be the same, such as all indicating the 7 types of configuration parameters shown in Table 1. Alternatively, the types of configuration parameters indicated by the first information of multiple scattering points may be different, such as one scattering point indicating the 7 types of configuration parameters shown in Table 1, and another scattering point indicating some types of configuration parameters shown in Table 1.

[0117] Table 1

[0118]

[0119] The following examples illustrate the first information, which may include, but are not limited to, the following implementation methods 1 and 2:

[0120] In implementation method 1, the first information may include at least one of the K configuration parameters, and / or, the first information may include the identifier of at least one of the K configuration parameters.

[0121] For example, the K configuration parameters include the subcarrier spacing; that is, the first piece of information is used to indicate the subcarrier spacing of the link to which the scattering point belongs. The first piece of information may include an identifier for the subcarrier spacing, which indicates the subcarrier spacing. For example, the subcarrier spacing might be 15kHz·2. n The identifier for the subcarrier spacing is then denoted as n. Specifically, for example, a subcarrier spacing of 15kHz is denoted as 0, a subcarrier spacing of 120kHz is denoted as 3, and so on. The first information may include the identifier n of the subcarrier spacing of the link to which a scattering point belongs.

[0122] For example, the K configuration parameters include the number of time-domain symbols. That is, the first information is used to indicate the number of time-domain symbols occupied by the link to which the scattering point belongs, and the first information may include the number of time-domain symbols.

[0123] In implementation method 2, the sensing information may include configuration parameters of each of the multiple links. The first information may include the identifier of the link to which the scattering point belongs. Based on the identifier of the link contained in the first information of a scattering point, the first node can determine K configuration parameters of the link to which the scattering point belongs.

[0124] For example, in Example 1 above, the sensing information may include the configuration parameters of each of the three links (i.e., links 1 to 3) obtained by the sensing node during the sensing task. If the first information of scattering point 13 of target 1 includes the identifier of link 3, the first node, upon obtaining the identifier of link 3 from the first information of scattering point 13, can determine that scattering point 13 belongs to link 3 and obtain the K configuration parameters of link 3 from the sensing information, thus obtaining the K configuration parameters of link 3 to which scattering point 13 belongs. Similarly, the first node can obtain the K configuration parameters of the link to which each scattering point belongs based on the first information of each scattering point.

[0125] The information of the scattering point includes first information, which enables the first node to determine K configuration parameters of the link to which the scattering point belongs after the sensing information is transmitted to the first node. This allows the first node to filter the scattering point based on the configuration parameters of the link to which the scattering point belongs when performing data fusion. However, this application is not limited to this, and the first information can also be used for other purposes.

[0126] Optionally, in the target's perception data, the information for each scattering point may include second information that indicates the perception quality of the scattering point.

[0127] The sensing node can determine the second information of the scattering point based on one or more of the following:

[0128] The sensing node is configured based on at least one parameter, such as the location accuracy of the scattering point, the signal-to-noise ratio of the path where the scattering point is located, or the link to which the scattering point belongs.

[0129] In one implementation, the sensing node can determine the sensing quality and obtain the second information based on a rule for determining sensing quality. This rule can be predefined in the protocol or configured by the first node for the sensing node via signaling.

[0130] For example, multiple positional accuracy ranges can be defined to correspond to multiple quality values. The sensing node can determine the quality value (denoted as the first quality value) corresponding to the range to which the positional accuracy belongs, based on the positional accuracy of the scattering point. The sensing node can also determine a quality value (denoted as the second quality value) based on the signal-to-noise ratio (SNR) of the path to which the scattering point belongs. This second quality value can be calculated based on the SNR and a predefined formula, or determined based on the SNR range to which the SNR belongs. The sensing node can also determine other quality values ​​based on the configuration parameters of the link to which the scattering point is located. The sensing node sums the multiple quality values ​​it has determined (including the first and second quality values, and possibly other quality values) to determine the sensing quality and obtain the second information. However, this application is not limited to this.

[0131] For example, a sensing node can determine the quality value corresponding to each configuration parameter based on at least one configuration parameter to which the scattering point belongs, and the sensing node can determine weighting coefficients based on the location accuracy of the scattering point and / or the signal-to-noise ratio of the path where the scattering point is located. The sensing node sums the quality values ​​corresponding to the at least one configuration parameter and multiplies them by the weighting coefficients to determine the sensing quality, thus obtaining the second information.

[0132] In this embodiment, the second information may include the perceived quality, or may include a sensing quality indicator (SQI). For example, a correspondence between multiple sensing quality ranges and multiple sensing quality indicators may be predefined. The sensing node may determine the sensing quality indicator corresponding to the sensing quality range to which the sensing quality belongs based on the sensing quality of a scattering point. The second information of the scattering point includes the sensing quality indicator.

[0133] In another implementation, the protocol predefines or configures via signaling the correspondence between multiple perceived quality indicators (SQIs) and multiple parameter sets, each parameter set including one or more parameters related to the scattering point, and the second information includes one of the multiple perceived quality indicators.

[0134] For example, the correspondence shown in Table 2 can be predefined by the protocol or configured via signaling. This correspondence includes multiple sensing indicators, such as sensing indicators 0 to 15. Each sensing indicator corresponds to a parameter set, and each parameter set includes multiple parameters, such as the bandwidth, modulation scheme, subcarrier spacing, number of subcarriers, symbol length, number of symbols, and position accuracy of the scattering point. At least one parameter in different parameter sets has a different value. Optionally, one of the sensing indicators (such as sensing indicator 0 in Table 2) can correspond to a range outside the predefined or configured range. The sensing node can determine the sensing quality indicator corresponding to the scattering point based on the configuration parameters of the link to which the scattering point belongs. The second information of the scattering point includes the sensing quality indicator, so that the first node can determine the sensing quality indicator of the scattering point after obtaining the second information of the scattering point. It should be understood that Table 2 is only an example, and in specific implementations, it may include information from some rows and / or some columns of Table 2, as well as values ​​of other SQIs and parameter sets outside of Table 2. This application does not limit this.

[0135] Table 2

[0136]

[0137]

[0138] In this implementation, the correspondence between SQI and parameter set can be predefined by the protocol, or it can be configured by the first node for the sensing node through signaling. For example, the protocol can predefine the complete set of correspondences between sensing quality indicator SQI and parameter set, and the first node can configure a subset of the correspondences in the predefined complete set for the sensing node through signaling. This subset of correspondences is a subset that matches the requirements of this sensing task.

[0139] Optionally, the sensing node can determine the link configuration information based on the correspondence, and perform sensing detection based on the configuration information.

[0140] In other words, the sensing node can determine the configuration information for a single sensing detection based on this correspondence. Taking Table 2 as an example, the sensing node can select the parameter set corresponding to an SQI of 11. The configuration parameters used for the sensing detection by the sensing node include a bandwidth of 100MHz, a modulation scheme of 64QAM, and a subcarrier spacing of 120kHz. If S scattering points are determined through this sensing detection, then the second information of these S scattering points all contain an SQI of 11. As mentioned earlier, these S scattering points can belong to different targets, and the second information of these S scattering points can be included in the sensing data of different targets.

[0141] The information of the scattering points includes second information, which allows the first node to determine the sensing quality of the scattering points after the sensing information is transmitted. This enables the first node to filter scattering points based on their sensing quality during data fusion. However, this application is not limited to this; the second information can also be used for other purposes. Indicating the sensing quality of scattering points using SQI reduces indication overhead and improves the utilization of transmission resources.

[0142] The above describes the information about scattering points in the target's perception data. The target's perception data may also include other target information; optionally, it may include one or more of the following: target identification, target type information, or target location information.

[0143] The target perception data may also include an identifier assigned by the perception node to the target it identifies, in order to distinguish different targets identified by the perception node. The target perception data may also include the target's location information identified by the perception node. For example, the target's location information may indicate the target's center position, such as the center position of the target obtained by the perception node by calculating the average centroid or weighted average centroid of the scattering points contained in the target.

[0144] The target perception data may also include target type information, which indicates the type of the target. For example, a perception node can determine the type of the target based on the data obtained from performing a perception task, using a target recognition algorithm. Exemplarily, the target recognition algorithm may include, but is not limited to, template matching algorithms, deep learning algorithms, etc., and this application does not limit it in this regard.

[0145] For example, N target types can be predefined by the protocol or configured via signaling, where N is a positive integer. The type information of the target indicates that the target is at least one of the N types.

[0146] Optionally, the N target types may include, but are not limited to, one or more of the following types:

[0147] Mobile targets, non-mobile targets, land targets, non-land targets, buildings, vehicles, pedestrians, drones, or other types of targets not defined.

[0148] For example, the target type information may include an identifier of at least one type. When a sensing node performs a sensing task and identifies a vehicle, the target type information may indicate that the target is a vehicle. If the target type and corresponding identifier shown in Table 3 can be configured through protocol predefinition or communication signaling, the target type information may include identifier 1. Furthermore, if the sensing node can determine that the vehicle is moving, the target type information may also indicate that the target is a moving target, and the target type information may also include identifier 4. Further still, the target type information may also indicate that the target is a land target, and the target type information may also include identifier 6. This application does not limit this; in specific implementations, candidate target types and methods of indicating target types can be defined according to specific implementation requirements.

[0149] Table 3

[0150] logo Target type 0 Building / anchor 1 Vehicles 2 pedestrians 3 Unmanned Aerial Vehicles (UAVs) 4 Moving target 5 Non-moving target 6 Terrestrial target 7 Non-terrestrial target 8 Other objectives

[0151] For example, Table 4 provides an example of the data format for target perception data. As shown in Table 4, target perception data may include one or more of the following: target identification, type information, and location information. It may also include information related to the target's scattering points, such as the number of scattering points and their specific information. For example, for each scattering point from scattering point 1 to scattering point N, it may include one or more of the following: identification, location information, velocity, transmission power, signal-to-noise ratio (SNR), scattering point type, location accuracy, and first or second information.

[0152] Table 4

[0153]

[0154] It should be understood that Table 4 is merely an example of the data format for the target's perceived data. In specific implementations, the values ​​of each piece of information can be determined based on the perceived results obtained from performing the specific perceived task. The specific format of the perceived data may include some or all of the information shown in Table 4, or it may include information other than that shown in Table 4. Furthermore, this application does not limit the order in which the information in the perceived data is arranged.

[0155] S402, the sensing node sends sensing information to the first node. The sensing information includes sensing data of at least one target, and the sensing data includes information about the scattering points of the target.

[0156] Accordingly, the first node acquires multiple pieces of sensing information. In one example, the first node is one of the sensing nodes performing the sensing task; that is, the first node executes both S401 and S402 to acquire multiple pieces of sensing information. This multiple pieces of sensing information include the sensing information obtained by the first node itself, as well as sensing information from one or more sensing nodes other than the first node. In another example, the first node may not perform the sensing task; instead, the first node acquires multiple pieces of sensing information from multiple sensing nodes.

[0157] S403, the first node determines one or more clustering targets based on multiple sensing information, and obtains the sensing fusion data for each clustering target.

[0158] The first node acquires multiple sensing information and can obtain sensing data of at least one target determined by each sensing node in performing a sensing task. The first node can then perform target clustering and data fusion based on these multiple sensing data.

[0159] For example, the first node determines one or more clustering targets based on multiple perceptual information, and obtains perceptual fusion data for each clustering target, including: the first node determines a first clustering target based on the perceptual data of P targets, and obtains fusion data for the first clustering target, where P is an integer greater than or equal to 2. Here, the multiple perceptual information includes the perceptual data of P targets, the one or more clustering targets include the first clustering target, and the P targets satisfy target clustering conditions, including that the distance between the positions of two targets is less than or equal to a distance threshold.

[0160] The first node can determine the location of each target in multiple sensing data sets. In one example, the sensing data of a target in the sensing data set contains the target's location information; the first node determines the target's location based on the location information in the sensing data of each target. In another example, the sensing data of a target in the sensing data set does not contain the target's location information, but the scattering point information in the target's sensing data contains the location information of each scattering point of the target; in this case, the first node can determine the target's location based on the location information of the target's scattering points.

[0161] The first node iterates through the targets and clusters multiple targets that meet the target clustering conditions into one cluster target. These multiple targets include two or more targets, where the distance between any two targets is less than or equal to a distance threshold. The one or more cluster targets determined by the first node include a first cluster target, which is a cluster target of P targets from multiple perceptual information, where the distance between any two targets is less than or equal to a distance threshold.

[0162] It should be understood that the P targets can include targets indicated by different sensing information, or different targets indicated by the same sensing information. A sensing node may be in a fixed position, and its sensing task may identify two parts of the same target as different targets and report them to the first node. The first node can obtain the sensing information determined by multiple sensing nodes, obtain more comprehensive sensing data, and determine through data processing to cluster the different targets reported by the sensing node into the same cluster target.

[0163] Optionally, the target clustering condition also includes that the targets are of the same type. That is, not only is the distance between the locations of any two of the P targets less than or equal to a distance threshold, but the P targets are also of the same type.

[0164] The perceived data of the target in the perceived information may include target type information. Based on the target type information, the first node can determine the type of each target and cluster targets with the same type whose distance is less than a distance threshold into a single cluster. However, this application is not limited to this. The perceived data of the target may also not include target type information. For example, the perceived data of the target may include relevant data used to determine the type of the target. The first node can determine the type of the target based on the relevant data and then determine whether the target meets the target clustering conditions.

[0165] After determining one or more clustering targets, the first node can perform fusion processing on the perceptual data of the targets in multiple perceptual information to obtain the fused data of each clustering target.

[0166] Optionally, the fused data of the clustering targets may include, but is not limited to, one or more of the following: the identifier of the clustering targets, the type information of the clustering targets, the location information of the clustering targets, the number of scattering points of the clustering targets, or the location variance information of the scattering points of the clustering targets.

[0167] After determining the clustering objectives, the first node can assign an identifier to each clustering objective to distinguish between different clustering objectives.

[0168] The fused data for clustering objectives can also include type information of the clustering objectives. If the clustering condition includes the objective type being the same, the type information of the first clustering objective can indicate the common objective type of the P objectives, which is the objective type of that clustering objective. If the clustering condition does not include the objective type being the same, the first node can determine the type of the first clustering objective based on the perceived data of the P objectives, and the type information of the first clustering objective can indicate the objective type of that first clustering objective determined by the first node.

[0169] The fused data of clustering targets can also include the location information of the clustering targets. For example, the first node can determine the location of the first clustering target based on the perception data of P targets. For example, the first node can calculate the center coordinates of the first clustering target based on the perception data of P targets. The location information of the first clustering target can indicate the center coordinates.

[0170] The fused data of clustered targets can also include information about the scattering points of the clustered targets. For example, the perception data of the p-th target out of P targets includes n... p Information from each scattering point, therefore, P targets include a total of N P Information about each scattering point, among which... The fusion data for the first clustering objective can include N P N in the information of each scattering point A Information about N scattering points, where N A Less than or equal to N P And N P N A It is a positive integer.

[0171] In one implementation, N A equals N P In other words, after the first node clusters P targets into a first cluster target, the fused data of the first cluster target includes the information of the scattering points of each of the P targets.

[0172] In another implementation, N A Less than or equal to N P The first node is based on the maximum number of scattering points threshold N. Sth In N P N is determined from the information of each scattering point.A Information about each scattering point. For example, if N P Less than or equal to N Sth Then the fused data for the first clustering target includes the N P Information from N scattering points A equals N P If N P Greater than N Sth Then the fused data for the first clustering objective includes N P N in the information of each scattering point Sth Information from N scattering points A equals N Sth .

[0173] In this embodiment, when the number of scattering points of P targets is N P Greater than the maximum number of scattering points threshold N Sth When, the first node needs to be in N P N is selected from the scattering points. Sth N scattering points are retained in the fused data of the first cluster target. Sth Information about N scattering points. The first node can be based on this N... P Information from each scattering point is used to determine N. Sth Information from each scattering point. Specifically, N is selected. Sth The methods for generating a single scattering point can include, but are not limited to, the following implementations, which will be described in detail below.

[0174] In method one, the information of the scattering point includes first information, which indicates K configuration parameters of the link to which the scattering point belongs. The first node is based on N P Information from each scattering point is used to determine N. Sth Information about the scattering points, including: the first node based on N P The first information of each scattering point determines N. Sth Information about each scattering point.

[0175] The first node can determine N based on the first information of the scattering points. P The first node can determine N based on the configuration parameters of the links to which each scattering point belongs. Sth There are N scattering points. For example, the first node can determine the sensing quality (and / or sensing accuracy) of the scattering points based on their configuration parameters, thereby selecting N scattering points with better quality (and / or higher accuracy). Sth The fused data of the first cluster target includes N scattering points. Sth Information about each scattering point.

[0176] Method 2: The information of the scattering point includes second information, which is used to indicate the perceived quality of the scattering point. The first node is based on N. PInformation from each scattering point is used to determine N. Sth Information about the scattering points, including: the first node based on N P The second information from each scattering point determines N. Sth Information about each scattering point.

[0177] The first node can determine the perceived quality of each scattering point based on the second information of the scattering points, thereby achieving the desired quality in N. P Among the scattering points, determine N with higher sensing quality. Sth The fused data of the first cluster target includes N scattering points. Sth Information about each scattering point.

[0178] Method 3: The information of the scattering point may include one or more of the following: the transmission power, signal-to-noise ratio, or sensing accuracy of the link to which the scattering point belongs. The first node can determine N based on one or more of these parameters. Sth A scattering point, such as N Sth Each scattering point can be a scattering point with a high signal-to-noise ratio and high sensing accuracy within its respective link. The fused data of this first cluster target includes the N points. Sth Information about each scattering point.

[0179] It should be understood that this application selects N for the first node. Sth The specific method for selecting a scattering point is not limited. The above methods can also be combined. For example, Method 1 and Method 2 can be combined. When the first node selects based on the perceived quality, if the perceived quality of multiple scattering points is the same, then the first node can use Method 1 again to filter the scattering points by referring to the configuration parameters of the scattering points.

[0180] It should be understood that N in the fused data of the first clustering objective A Information of each scattering point (N) A equals N p , or N A equals N Sth ), which can be the N obtained by the first node from the perceived information. A Information about each scattering point, or, the information obtained by the first node from the perceived information about the N scattering points. A N is obtained after processing the information from each scattering point. A Information about each scattering point, such as the first node being N. A Each scattering point is reassigned an identifier, and the identifier contained in the information of each scattering point differs from that in the perceived information. This application does not limit this.

[0181] The first node obtains fused data from one or more clustering targets, thus acquiring environmental perception data. This data can provide perception services for perception applications and improve the communication quality of business communications. This application does not limit this aspect. Through the above-described scheme provided in this application, in collaborative perception, the perception node provides the first node with perception information containing perception data of the target, on a per-target basis. The perception data for each target can include information about the target's scattering points. This improves the efficiency of the first node in target clustering and data fusion. Furthermore, it enhances the system's perception capabilities by improving the perception range and accuracy in collaborative perception.

[0182] It is understood that, in order to achieve the functions in the above embodiments, the base station and terminal include hardware structures and / or software modules corresponding to perform each function. Those skilled in the art should readily recognize that, based on the units and method steps described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0183] Figure 5 and Figure 6 This is a schematic diagram illustrating the structure of possible communication devices provided in embodiments of this application. These communication devices can be used to implement the functions of the first node or sensing node in the above method embodiments, and thus also achieve the beneficial effects of the above method embodiments. In embodiments of this application, the communication device can be as follows: Figure 1 One of the terminals 120a-120j shown can also be as follows: Figure 1 The access network device 110a or 110b shown can also be as follows: Figure 1 The core network device shown in the core network CN can also be a module (such as a chip or chip system) applied to a terminal, access network device or core network device.

[0184] The communication device 500 includes a transceiver unit 520, which can be used to receive or send information. The communication device 500 may also include a processing unit 510, which can be used to process instructions or data to achieve corresponding operations.

[0185] It should be understood that when the communication device 500 is a chip configured in (or used in) a communication device, the transceiver unit 520 in the communication device 500 can be the input / output interface or circuit of the chip, and the processing unit 510 in the communication device 500 can be the processor in the chip.

[0186] Optionally, the communication device 500 may further include a storage unit 530, which can be used to store instructions or data. The processing unit 510 can execute the instructions or data stored in the storage unit to enable the communication device to perform corresponding operations.

[0187] The communication device 500 can be used to achieve the above. Figure 4 The method embodiment shown illustrates the function of the first node or the sensing node.

[0188] When the communication device 500 is used to implement Figure 4 In the method embodiment shown, the first node functions as follows: a transceiver unit 520, used to acquire multiple sensing information, including sensing data of at least one target, and the sensing data including information on the scattering points of the target. A processing unit 510, based on the multiple sensing information, determines one or more clustering targets and obtains sensing fusion data for each clustering target.

[0189] When the communication device 500 is used to implement Figure 4 In the method embodiment shown, the function of the sensing node is as follows: A processing unit 510 is used to control a transceiver unit 520 to perform a sensing task. The transceiver unit 520 is used to send sensing information, which includes sensing data of at least one target. This sensing data is obtained by performing the sensing task and includes information about the target's scattering points.

[0190] For a more detailed description of the aforementioned processing unit 510 and transceiver unit 520, please refer to [reference needed]. Figure 4 The relevant descriptions in the method embodiments shown.

[0191] It should be understood that the transceiver unit 520 in the communication device 500 can be implemented through a communication interface (such as a transceiver, transceiver circuit, input / output interface, or pins, etc.). When the communication interface is a transceiver, the transceiver can consist of a receiver and / or a transmitter. The processing unit 510 in the communication device 500 can be implemented through at least one processor, or it can be implemented through at least one logic circuit. Optionally, the communication device 500 also includes a storage unit, which can be implemented using a memory.

[0192] like Figure 6 As shown, the communication device 600 includes a processor 610 and an interface circuit 620. The processor 610 and the interface circuit 620 are coupled to each other. It is understood that the interface circuit 620 can be a transceiver or an input / output interface. Optionally, the communication device 600 may also include a memory 630 for storing instructions executed by the processor 610, or storing input data required by the processor 610 to execute instructions, or storing data generated after the processor 610 executes instructions.

[0193] In one implementation, the memory 630 may be integrated into the processor 610 or independent of the processor 610.

[0194] When the communication device 600 is used to implement Figure 4 In the method shown, the processor 610 is used to implement the functions of the processing unit 510, and the interface circuit 620 is used to implement the functions of the transceiver unit 520.

[0195] When the aforementioned communication device is a chip applied to a terminal device, the terminal device chip can implement the function of the sensing node in the above method embodiments. The terminal device chip receives information from other modules (such as radio frequency modules or antennas) in the terminal device, information sent from the network device to the terminal device; or, the terminal device chip sends information to other modules (such as radio frequency modules or antennas) in the terminal device, information sent from the terminal device to the network device.

[0196] When the aforementioned communication device is a module applied to a network device, the network device module can implement the functions of the sensing node and the first node in the above method embodiments. The network device module receives information from other modules (such as radio frequency modules or antennas) in the network device; this information is sent from the terminal device to the network device. Alternatively, the network device module sends information to other modules (such as radio frequency modules or antennas) in the network device; this information is sent from the network device to the terminal device. The network device module here can be the baseband chip of the network device, or it can be a DU or other modules. The DU here can be a DU under an open radio access network (O-RAN) architecture.

[0197] It is understood that the processor in the embodiments of this application may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor may be a microprocessor or any conventional processor.

[0198] The method steps in the embodiments of this application can be implemented in hardware or in software instructions executable by a processor. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. The storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in an access network device or a terminal device. The processor and storage medium can also exist as discrete components in the access network device or terminal device.

[0199] According to the method provided in the application embodiments, this application embodiment also provides a computer program product, the computer program product comprising: computer program code, which, when executed by one or more processors, causes a device including the processor to perform as described above. Figure 4 The method shown.

[0200] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. This computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed, in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, network equipment, user equipment, or other programmable device.

[0201] According to the method provided in the embodiments of this application, the embodiments of this application also provide a computer-readable storage medium that stores the aforementioned computer program or instructions. When the computer program or instructions are executed by one or more processors, they cause a device including the processor to perform actions such as... Figure 4 The method shown.

[0202] As described above, computer programs or instructions can be stored in or transferred from one computer-readable storage medium to another. For example, the computer programs or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium can be a volatile or non-volatile storage medium, or it can include both volatile and non-volatile types of storage media.

[0203] According to the method provided in the embodiments of this application, the embodiments of this application also provide a communication system, including one or more of the aforementioned first nodes. The system may further include one or more of the aforementioned sensing nodes.

[0204] In the various embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatuses described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be through some interfaces; indirect couplings or communication connections between apparatuses or units may be electrical, mechanical, or other forms.

[0205] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this solution according to actual needs.

[0206] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0207] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of communication awareness, characterized by, The method comprises: obtaining a plurality of sensing information, the sensing information comprising sensing data of at least one target, the sensing data comprising information of scattering points of the target; determining one or more clustered targets according to the plurality of sensing information, and obtaining sensing fusion data of each of the clustered targets.

2. The method of claim 1, wherein, The sensing data further comprises position information of the target, The determining one or more clustered targets according to the plurality of sensing information, and obtaining sensing fusion data of each of the clustered targets comprises: determining a first clustered target according to sensing data of P targets, P being an integer greater than or equal to 2, the plurality of sensing information comprising the sensing data of the P targets, the one or more clustered targets comprising the first clustered target, wherein the P targets satisfy a target clustering condition, the target clustering condition comprising that a distance between positions of two targets is less than or equal to a distance threshold.

3. The method of claim 2, wherein, The target clustering condition further comprises that target types of the targets are the same.

4. The method according to claim 2 or 3, characterized in that, The sensing data further comprises type information, N target types being predefined by a protocol or configured through signaling, the type information being used to indicate that a type of the target is at least one of the N target types, N being a positive integer.

5. The method of claim 4, wherein, The N target types comprise one or more of the following types: a moving target, a non-moving target, a land target, a non-land target, a building, a vehicle, a pedestrian target, a drone target, or an undefined other type of target.

6. The method according to any one of claims 2 to 5, characterized in that, The perception data of the P targets contains information of N P scattering points, and the fusion data of the first clustered target contains information of N P scattering points in the information of the N A scattering points, wherein N P is greater than or equal to N A , and N P , N A are positive integers.

7. The method of claim 6, wherein, The N P greater than the maximum number of scattering points threshold N Sth , The determining a first clustered target according to sensing data of P targets, and obtaining fusion data of the first clustered target comprises: According to the N P Information from each scattering point is used to determine N. Sth The information of the scattering points, the fused data of the first clustering target includes the N... A The information of the scattering points is the N Sth Information from N scattering points A equals N Sth .

8. The method of claim 7, wherein, The information of the scattering points comprises first information, the first information being used to indicate K configuration parameters of a link to which the scattering points belong, K being a positive integer, The information of the N P scattering points is determined according to the information of the N Sth scattering points, comprising: According to the first information of the N P scattering points, information of the N Sth scattering points is determined.

9. The method of claim 8, wherein, The K configuration parameters comprise one or more of the following configuration parameters: a center frequency, a frequency domain bandwidth, a number of subcarriers, a subcarrier spacing, a number of time domain symbols, a time domain symbol length, or a modulation mode.

10. The method according to any one of claims 7 to 9, characterized in that, The information of the scattering points comprises second information, the second information being used to indicate sensing quality of the scattering points, The information of the N P scattering points is determined according to the information of the N Sth scattering points, comprising: According to the second information of the N P scattering points, information of the N Sth scattering points is determined.

11. The method of claim 10, wherein, a protocol predefines or signaling configures a correspondence between a plurality of sensing quality indicators and a plurality of parameter sets, each parameter set comprising one or more parameters related to a scattering point, The second information comprises one of the plurality of sensing quality indicators.

12. The method according to any one of claims 1 to 11, characterized in that, The information of the scattering points is used to indicate one or more of the following information of scattering points contained by the target: a number of the scattering points, a position variance of the scattering points contained by the target, an identity of the scattering points, a position of the scattering points, a position accuracy of the scattering points, a velocity of the scattering points, a type of the scattering points, a power of a transmission path in which the scattering points are located, or a signal-to-noise ratio of the transmission path in which the scattering points are located.

13. A method of communication awareness, the method comprising: The method comprises: performing a sensing task; sending sensing information, the sensing information comprising sensing data of at least one target, the sensing data of the at least one target being obtained by performing the sensing task, the sensing data comprising information of scattering points of the target.

14. The method of claim 13, wherein, The information of the scattering points comprises first information, the first information being used to indicate K configuration parameters of a link to which the scattering points belong, K being a positive integer.

15. The method of claim 14, wherein, The K configuration parameters include one or more of the following configuration parameters: a center frequency, a frequency domain bandwidth, a subcarrier number, a subcarrier spacing, a time domain symbol number, a time domain symbol length, or a modulation mode.

16. The method according to any one of claims 13 to 15, characterized in that, The information of the scattering point includes second information used to indicate a sensing quality of the scattering point.

17. The method of claim 16, wherein, The method further includes: determining the second information according to at least one of a position accuracy of the scattering point, a signal-to-noise ratio of a path where the scattering point is located, and a configuration parameter of a link to which the scattering point belongs.

18. The method according to claim 16 or 17, characterized in that, The protocol predefines or configures, through signaling, a correspondence between a plurality of sensing quality indicators and a plurality of parameter sets, each parameter set including one or more parameters related to a scattering point, The second information includes one sensing quality indicator in the plurality of sensing quality indicators.

19. The method according to any one of claims 13 to 18, characterized in that, The information of the scattering point is used to indicate one or more of the following information of a target containing the scattering point: a number of scattering points, a position variance of a plurality of scattering points of the target, an identification of a scattering point, a position of a scattering point, a position accuracy of a scattering point, a velocity of a scattering point, a type of a scattering point, a power of a transmission path where the scattering point is located, or a signal-to-noise ratio of the transmission path where the scattering point is located.

20. The method of any one of claims 13-19, wherein, The sensing data further includes type information used to indicate a type of the target.

21. The method of claim 20, wherein, The protocol predefines or configures, through signaling, N target types, the type information is used to indicate that the type of the target is at least one type in the N target types, and N is a positive integer.

22. The method of claim 21, wherein, The N target types include one or more of the following types: a moving target, a non-moving target, a land target, a non-land target, a building, a vehicle, a pedestrian target, a drone target, or an undefined other type target.

23. The method of any one of claims 13-22, wherein, The sensing data further includes an identification of the target and / or position information of the target.

24. A communications device, characterized by It includes: a transceiver unit configured to obtain a plurality of sensing information, the sensing information including sensing data of at least one target, the sensing data including information of a scattering point of the target; a processing unit configured to determine one or more clustered targets according to the plurality of sensing information, and obtain sensing fusion data of each of the clustered targets.

25. A communications device, characterized by It includes: a processing unit configured to control a transceiver unit to perform a sensing task; the transceiver unit is configured to send sensing information, the sensing information including sensing data of at least one target, the sensing data of the at least one target being obtained by performing the sensing task, and the sensing data including information of a scattering point of the target.

26. A communications device, characterized by It includes a processor coupled to a memory, the memory being configured to store a computer program, and the processor being configured to execute the computer program stored in the memory to enable the communication device to perform the method of any one of claims 1 to 12; or to enable the communication device to perform the method of any one of claims 13 to 23.

27. A communications device, characterized by It includes a processor and a communication interface, the processor being configured to control the communication interface to implement the method of any one of claims 1 to 12; or to implement the method of any one of claims 13 to 23.

28. The communication apparatus according to claim 26 or 27, wherein, The communication device is a chip.

29. A communication system, characterized by comprising a first communication device for performing the method of any of claims 1 to 12 and a second communication device for performing the method of any of claims 13 to 23.

30. A computer-readable storage medium, characterized in that, having stored instructions which, when executed on a computer, cause the computer to carry out the method of any of claims 1 to 23.

31. A computer program product, characterised in that, comprising instructions which, when executed by a computer, cause the computer to carry out the method of any of claims 1 to 23.

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